Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 53 * 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 53 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 40 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 7 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 4 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 100 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 200 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -17688.041 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 -17688.041

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 40 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE5 -1 MISSION 7 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 53 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 021210,102852,-7716.136,17056.307,15,4.1,34,134.3 TGT_NAME POLYNYA

_CALLS 1 TGT_LATLONG -7700.000,17100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 9.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021210,102852,-7716.136,17056.307,15,4.1,34,134.3 MHEAD_RNG_PITCHd_Wd 228.6,29924,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 747

Post-dive calculations and measurements:

FREEZE 8.04,-1.890,-1.903,2,6,0 _24V_AH 22.9,44.304

FINISH1 8.0,1.027825,-16 _10V_AH 10.0,61.909

FINISH2 2.4 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7630.39,17051.50,021210,040449 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 258940

HUMID 49.68 DATA_FILE_SIZE 40358,620

INTERNAL_PRESSURE 8.8187 CAP_FILE_SIZE 93475,0

TCM_TEMP 14.20 CFSIZE 260165632,247832576

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

ALTIM_TOP_PING 19.5,19.5 GPS 021210,102852,-7716.136,17056.307,15,4.1,34,134.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 167 19.37 SBE_CT 430 24 236.65

Roll_motor 96 67 149.04 AA4330 774 33 585.37

VBD_pump_during_apogee 571 921 12071.63 WL_BBFL2VMT 831 105 2000.52

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 14.43 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1442 19 285.63

LPSleep 2038 2 44.63

TT8_Active 606 19 120.04

TT8_Sampling 1601 39 637.29

TT8_CF8 121 45 55.63

TT8_Kalman 0 0 0.00

Analog_circuits 1363 12 163.63

GPS_charging 0 0 0.00

Compass 1144 15 171.70

RAFOS 0 0 0.00

Transponder 12 30 3.69

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.84 -219.0 0.0 0.0 0 26 0.00 0.00 -8.98 0.000 2 0.000 0.000 2814 3771 3417 0 0 0 0 0 0

28 -0.84 -219.0 9.4 -0.0 1 49 0.73 4.70 -9.73 0.000 4 0.081 0.041 2552 894 3857 0 0 0 0 0 0

160 -0.88 -219.0 26.1 -14.8 24 168 0.00 2.33 0.00 0.000 6 0.000 0.043 2547 2299 3858 0 0 0 0 0 0

300 -0.88 -219.0 51.4 -20.4 49 307 0.00 2.30 0.00 0.000 4 0.000 0.052 2547 3711 3859 0 0 0 0 0 0

433 -0.85 -219.0 72.3 -15.5 73 440 0.00 2.25 0.00 0.000 6 0.000 0.028 2547 2284 3859 0 0 0 0 0 0

572 -0.83 -219.0 92.4 -14.8 98 581 0.00 2.38 0.00 0.000 4 0.000 0.050 2547 3711 3859 0 0 0 0 0 0

664 -0.83 -219.0 106.7 -16.0 111 669 0.00 2.20 0.00 0.000 6 0.000 0.030 2547 2303 3860 0 0 0 0 0 0

801 -0.83 -219.0 127.6 -15.9 123 805 0.00 2.30 0.00 0.000 4 0.000 0.051 2547 3717 3860 0 0 0 0 0 0

885 -0.81 -219.0 141.5 -17.5 130 889 0.00 2.22 0.00 0.000 6 0.000 0.030 2547 2291 3860 0 0 0 0 0 0

1020 -0.81 -219.0 162.8 -15.3 142 1024 0.00 2.30 0.00 0.000 4 0.000 0.050 2547 3711 3860 0 0 0 0 0 0

1083 -0.81 -219.0 173.3 -15.8 147 1093 0.00 2.22 0.00 0.000 6 0.000 0.031 2547 2309 3860 0 0 0 0 0 0

1219 -0.81 -219.0 193.3 -14.7 160 1223 0.00 2.28 0.00 0.000 4 0.000 0.051 2538 3717 3860 0 0 0 0 0 0

1305 -0.79 -219.0 207.5 -15.6 167 1314 0.00 2.25 0.00 0.000 6 0.000 0.031 2538 2300 3860 0 0 0 0 0 0

1441 -0.76 -219.0 227.2 -14.7 180 1445 0.12 2.30 0.00 0.000 4 0.162 0.052 2569 3712 3860 0 0 0 0 0 0

1528 -0.79 -219.0 238.6 -12.6 187 1536 0.00 2.22 0.00 0.000 6 0.000 0.031 2569 2306 3860 0 0 0 0 0 0

1661 -0.83 -219.0 254.6 -12.2 200 1665 0.00 2.28 0.00 0.000 4 0.000 0.051 2563 3714 3860 0 0 0 0 0 0

1769 -0.86 -219.0 268.7 -13.3 209 1773 0.00 2.20 0.00 0.000 6 0.000 0.030 2563 2294 3859 0 0 0 0 0 0

1967 -0.88 -219.0 294.1 -12.5 227 1971 0.00 2.28 0.00 0.000 4 0.000 0.050 2563 3712 3859 0 0 0 0 0 0

2102 -0.91 -219.0 311.6 -12.7 238 2109 0.12 2.20 0.00 0.000 6 0.106 0.030 2511 2296 3860 0 0 0 0 0 0

2300 -0.84 -219.0 344.2 -17.1 257 2305 0.12 2.28 0.00 0.000 4 0.168 0.050 2534 3711 3860 0 0 0 0 0 0

2434 -0.81 -219.0 366.4 -16.1 268 2441 0.00 2.17 0.00 0.000 6 0.000 0.030 2535 2299 3859 0 0 0 0 0 0

2632 -0.79 -219.0 397.0 -15.1 287 2636 0.12 2.28 0.00 0.000 4 0.161 0.050 2563 3711 3859 0 0 0 0 0 0

2651 end dive: TARGET_DEPTH_EXCEEDED

state 2651 begin apogee

2658 -0.16 0.0 400.3 14.4 288 2838 0.60 0.00 174.40 0.922 6 0.122 0.000 2765 2488 2959 0 0 0 0 0 0

2839 end apogee: CONTROL_FINISHED_OK

state 2839 begin climb

2841 0.84 219.0 410.4 0.0 305 3038 0.93 2.47 184.20 0.870 4 0.063 0.036 3101 1114 2065 0 0 0 0 0 0

3117 0.73 219.0 382.7 15.6 330 3123 0.17 2.38 0.00 0.000 6 0.163 0.041 3057 2496 2057 0 0 1 0 0 0

3317 0.66 219.0 354.5 14.7 348 3321 0.00 2.15 0.00 0.000 4 0.000 0.050 3057 3769 2053 0 0 0 0 0 0

3440 0.52 219.0 333.8 16.5 358 3448 0.28 2.05 0.00 0.000 6 0.148 0.031 2988 2504 2051 0 0 0 0 0 0

3639 0.69 320.9 314.2 9.2 377 3739 0.15 2.25 87.53 0.834 4 0.081 0.050 3051 3763 1650 0 0 1 0 0 0

3811 0.65 320.9 288.7 16.3 392 3819 0.08 2.12 0.00 0.000 6 0.141 0.031 3035 2503 1647 0 0 0 0 0 0

4012 0.68 327.4 262.5 13.1 411 4024 0.00 2.15 6.03 0.711 4 0.000 0.049 3035 3769 1625 0 0 0 0 0 0

4081 0.68 327.4 251.7 15.5 417 4085 0.00 2.08 0.00 0.000 6 0.000 0.031 3044 2491 1624 0 0 0 0 0 0

4282 0.68 327.4 224.1 13.8 435 4286 0.00 2.12 0.00 0.000 4 0.000 0.050 3044 3770 1623 0 0 0 0 0 0

4337 0.66 327.4 215.1 15.2 439 4346 0.00 2.08 0.00 0.000 6 0.000 0.031 3051 2499 1622 0 0 0 0 0 0

4473 0.66 327.4 195.0 14.6 452 4477 0.00 2.10 0.00 0.000 4 0.000 0.050 3052 3773 1622 0 0 0 0 0 0

4515 0.62 327.4 187.6 16.5 455 4524 0.12 2.08 0.00 0.000 6 0.138 0.031 3019 2499 1621 0 0 0 0 0 0

4653 0.74 378.6 171.0 11.2 468 4702 0.12 0.00 43.92 0.777 6 0.087 0.000 3079 2499 1416 0 0 0 0 0 0

4831 0.71 378.6 140.9 17.9 485 4836 0.12 2.10 0.00 0.000 4 0.149 0.050 3043 3764 1413 0 0 1 0 0 0

4894 0.71 378.6 128.0 18.0 490 4903 0.00 2.08 0.00 0.000 6 0.000 0.031 3051 2497 1412 0 0 0 0 0 0

5032 0.73 378.6 105.8 15.9 503 5036 0.00 2.10 0.00 0.000 4 0.000 0.050 3050 3773 1411 0 0 0 0 0 0

5073 0.73 378.6 98.4 18.1 506 5081 0.00 2.08 0.00 0.000 6 0.000 0.031 3058 2497 1411 0 0 0 0 0 0

5214 0.73 378.6 75.6 17.3 531 5221 0.00 2.12 0.00 0.000 4 0.000 0.051 3058 3785 1411 0 0 0 0 0 0

5252 0.71 378.6 68.3 20.4 537 5259 0.00 2.05 0.00 0.000 6 0.000 0.032 3066 2496 1410 0 0 0 0 0 0

5389 0.71 378.6 45.5 14.4 562 5397 0.00 2.10 0.00 0.000 4 0.000 0.050 3066 3756 1410 0 0 0 0 0 0

5436 0.66 378.6 38.3 16.1 570 5445 0.10 2.03 0.00 0.000 6 0.137 0.031 3040 2500 1410 0 0 0 0 0 0

5578 0.89 509.1 22.4 8.0 595 5657 0.20 0.00 75.78 0.684 2 0.071 0.000 3122 2498 1026 0 0 0 0 0 0

5658 end climb: FINISH_DEPTH_REACHED

state 5658 begin subsurface finish

5665 -0.02 -15.9 8.0 -27.7 606 5757 0.95 2.15 -82.30 0.000 4 0.121 0.067 2820 3754 3027 0 0 1 0 0 0

5759 end subsurface finish: CONTROL_FINISHED_OK

state 5759 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	53	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	40	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	7	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	4	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	100	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	200	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-17688.041	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	021210,102852,-7716.136,17056.307,15,4.1,34,134.3	TGT_NAME	POLYNYA
_CALLS	1	TGT_LATLONG	-7700.000,17100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	9.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021210,102852,-7716.136,17056.307,15,4.1,34,134.3	MHEAD_RNG_PITCHd_Wd	228.6,29924,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	747

FREEZE	8.04,-1.890,-1.903,2,6,0	_24V_AH	22.9,44.304
FINISH1	8.0,1.027825,-16	_10V_AH	10.0,61.909
FINISH2	2.4	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7630.39,17051.50,021210,040449	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	258940
HUMID	49.68	DATA_FILE_SIZE	40358,620
INTERNAL_PRESSURE	8.8187	CAP_FILE_SIZE	93475,0
TCM_TEMP	14.20	CFSIZE	260165632,247832576
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
ALTIM_TOP_PING	19.5,19.5	GPS	021210,102852,-7716.136,17056.307,15,4.1,34,134.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	167	19.37	SBE_CT	430	24	236.65
Roll_motor	96	67	149.04	AA4330	774	33	585.37
VBD_pump_during_apogee	571	921	12071.63	WL_BBFL2VMT	831	105	2000.52
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	14.43	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1442	19	285.63
LPSleep	2038	2	44.63
TT8_Active	606	19	120.04
TT8_Sampling	1601	39	637.29
TT8_CF8	121	45	55.63
TT8_Kalman	0	0	0.00
Analog_circuits	1363	12	163.63
GPS_charging	0	0	0.00
Compass	1144	15	171.70
RAFOS	0	0	0.00
Transponder	12	30	3.69

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.84	-219.0	0.0	0.0	0	26	0.00	0.00	-8.98	0.000	2	0.000	0.000	2814	3771	3417	0	0	0	0	0	0
28	-0.84	-219.0	9.4	-0.0	1	49	0.73	4.70	-9.73	0.000	4	0.081	0.041	2552	894	3857	0	0	0	0	0	0
160	-0.88	-219.0	26.1	-14.8	24	168	0.00	2.33	0.00	0.000	6	0.000	0.043	2547	2299	3858	0	0	0	0	0	0
300	-0.88	-219.0	51.4	-20.4	49	307	0.00	2.30	0.00	0.000	4	0.000	0.052	2547	3711	3859	0	0	0	0	0	0
433	-0.85	-219.0	72.3	-15.5	73	440	0.00	2.25	0.00	0.000	6	0.000	0.028	2547	2284	3859	0	0	0	0	0	0
572	-0.83	-219.0	92.4	-14.8	98	581	0.00	2.38	0.00	0.000	4	0.000	0.050	2547	3711	3859	0	0	0	0	0	0
664	-0.83	-219.0	106.7	-16.0	111	669	0.00	2.20	0.00	0.000	6	0.000	0.030	2547	2303	3860	0	0	0	0	0	0
801	-0.83	-219.0	127.6	-15.9	123	805	0.00	2.30	0.00	0.000	4	0.000	0.051	2547	3717	3860	0	0	0	0	0	0
885	-0.81	-219.0	141.5	-17.5	130	889	0.00	2.22	0.00	0.000	6	0.000	0.030	2547	2291	3860	0	0	0	0	0	0
1020	-0.81	-219.0	162.8	-15.3	142	1024	0.00	2.30	0.00	0.000	4	0.000	0.050	2547	3711	3860	0	0	0	0	0	0
1083	-0.81	-219.0	173.3	-15.8	147	1093	0.00	2.22	0.00	0.000	6	0.000	0.031	2547	2309	3860	0	0	0	0	0	0
1219	-0.81	-219.0	193.3	-14.7	160	1223	0.00	2.28	0.00	0.000	4	0.000	0.051	2538	3717	3860	0	0	0	0	0	0
1305	-0.79	-219.0	207.5	-15.6	167	1314	0.00	2.25	0.00	0.000	6	0.000	0.031	2538	2300	3860	0	0	0	0	0	0
1441	-0.76	-219.0	227.2	-14.7	180	1445	0.12	2.30	0.00	0.000	4	0.162	0.052	2569	3712	3860	0	0	0	0	0	0
1528	-0.79	-219.0	238.6	-12.6	187	1536	0.00	2.22	0.00	0.000	6	0.000	0.031	2569	2306	3860	0	0	0	0	0	0
1661	-0.83	-219.0	254.6	-12.2	200	1665	0.00	2.28	0.00	0.000	4	0.000	0.051	2563	3714	3860	0	0	0	0	0	0
1769	-0.86	-219.0	268.7	-13.3	209	1773	0.00	2.20	0.00	0.000	6	0.000	0.030	2563	2294	3859	0	0	0	0	0	0
1967	-0.88	-219.0	294.1	-12.5	227	1971	0.00	2.28	0.00	0.000	4	0.000	0.050	2563	3712	3859	0	0	0	0	0	0
2102	-0.91	-219.0	311.6	-12.7	238	2109	0.12	2.20	0.00	0.000	6	0.106	0.030	2511	2296	3860	0	0	0	0	0	0
2300	-0.84	-219.0	344.2	-17.1	257	2305	0.12	2.28	0.00	0.000	4	0.168	0.050	2534	3711	3860	0	0	0	0	0	0
2434	-0.81	-219.0	366.4	-16.1	268	2441	0.00	2.17	0.00	0.000	6	0.000	0.030	2535	2299	3859	0	0	0	0	0	0
2632	-0.79	-219.0	397.0	-15.1	287	2636	0.12	2.28	0.00	0.000	4	0.161	0.050	2563	3711	3859	0	0	0	0	0	0
2651	end dive: TARGET_DEPTH_EXCEEDED
state	2651	begin apogee
2658	-0.16	0.0	400.3	14.4	288	2838	0.60	0.00	174.40	0.922	6	0.122	0.000	2765	2488	2959	0	0	0	0	0	0
2839	end apogee: CONTROL_FINISHED_OK
state	2839	begin climb
2841	0.84	219.0	410.4	0.0	305	3038	0.93	2.47	184.20	0.870	4	0.063	0.036	3101	1114	2065	0	0	0	0	0	0
3117	0.73	219.0	382.7	15.6	330	3123	0.17	2.38	0.00	0.000	6	0.163	0.041	3057	2496	2057	0	0	1	0	0	0
3317	0.66	219.0	354.5	14.7	348	3321	0.00	2.15	0.00	0.000	4	0.000	0.050	3057	3769	2053	0	0	0	0	0	0
3440	0.52	219.0	333.8	16.5	358	3448	0.28	2.05	0.00	0.000	6	0.148	0.031	2988	2504	2051	0	0	0	0	0	0
3639	0.69	320.9	314.2	9.2	377	3739	0.15	2.25	87.53	0.834	4	0.081	0.050	3051	3763	1650	0	0	1	0	0	0
3811	0.65	320.9	288.7	16.3	392	3819	0.08	2.12	0.00	0.000	6	0.141	0.031	3035	2503	1647	0	0	0	0	0	0
4012	0.68	327.4	262.5	13.1	411	4024	0.00	2.15	6.03	0.711	4	0.000	0.049	3035	3769	1625	0	0	0	0	0	0
4081	0.68	327.4	251.7	15.5	417	4085	0.00	2.08	0.00	0.000	6	0.000	0.031	3044	2491	1624	0	0	0	0	0	0
4282	0.68	327.4	224.1	13.8	435	4286	0.00	2.12	0.00	0.000	4	0.000	0.050	3044	3770	1623	0	0	0	0	0	0
4337	0.66	327.4	215.1	15.2	439	4346	0.00	2.08	0.00	0.000	6	0.000	0.031	3051	2499	1622	0	0	0	0	0	0
4473	0.66	327.4	195.0	14.6	452	4477	0.00	2.10	0.00	0.000	4	0.000	0.050	3052	3773	1622	0	0	0	0	0	0
4515	0.62	327.4	187.6	16.5	455	4524	0.12	2.08	0.00	0.000	6	0.138	0.031	3019	2499	1621	0	0	0	0	0	0
4653	0.74	378.6	171.0	11.2	468	4702	0.12	0.00	43.92	0.777	6	0.087	0.000	3079	2499	1416	0	0	0	0	0	0
4831	0.71	378.6	140.9	17.9	485	4836	0.12	2.10	0.00	0.000	4	0.149	0.050	3043	3764	1413	0	0	1	0	0	0
4894	0.71	378.6	128.0	18.0	490	4903	0.00	2.08	0.00	0.000	6	0.000	0.031	3051	2497	1412	0	0	0	0	0	0
5032	0.73	378.6	105.8	15.9	503	5036	0.00	2.10	0.00	0.000	4	0.000	0.050	3050	3773	1411	0	0	0	0	0	0
5073	0.73	378.6	98.4	18.1	506	5081	0.00	2.08	0.00	0.000	6	0.000	0.031	3058	2497	1411	0	0	0	0	0	0
5214	0.73	378.6	75.6	17.3	531	5221	0.00	2.12	0.00	0.000	4	0.000	0.051	3058	3785	1411	0	0	0	0	0	0
5252	0.71	378.6	68.3	20.4	537	5259	0.00	2.05	0.00	0.000	6	0.000	0.032	3066	2496	1410	0	0	0	0	0	0
5389	0.71	378.6	45.5	14.4	562	5397	0.00	2.10	0.00	0.000	4	0.000	0.050	3066	3756	1410	0	0	0	0	0	0
5436	0.66	378.6	38.3	16.1	570	5445	0.10	2.03	0.00	0.000	6	0.137	0.031	3040	2500	1410	0	0	0	0	0	0
5578	0.89	509.1	22.4	8.0	595	5657	0.20	0.00	75.78	0.684	2	0.071	0.000	3122	2498	1026	0	0	0	0	0	0
5658	end climb: FINISH_DEPTH_REACHED
state	5658	begin subsurface finish
5665	-0.02	-15.9	8.0	-27.7	606	5757	0.95	2.15	-82.30	0.000	4	0.121	0.067	2820	3754	3027	0	0	1	0	0	0
5759	end subsurface finish: CONTROL_FINISHED_OK
state	5759	begin surface