Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 556 * 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 556 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 623.29712 R_PORT_OVSHOOT 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 27 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 -2 T_GPS_CHARGE -30840.719 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 623.29712

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 -30840.719

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 -2

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 37 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 27 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 556 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 080111,070454,-7628.777,17649.680,23,1.1,42,122.5 TGT_NAME POLYNYA1

_CALLS 3 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 -73.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080111,071452,-7628.775,17649.650,13,3.1,32,122.5 MHEAD_RNG_PITCHd_Wd 168.0,177123,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 378

Post-dive calculations and measurements:

FREEZE 1.16,-0.257,-1.123,2,2,0 _24V_AH 20.3,80.381

FINISH 1.2,1.016583 _10V_AH 9.6,55.576

SM_CCo 5942,260.33,0.100,0,0,420,623.30 FG_AHR_24Vo 0.000

SM_GC 1.87,0.00,0.00,260.33,0.000,0.000,0.100,426,2662,420,-8.25,0.34,623.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17647.17,080111,070736 MEM 258148

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47106,663

HUMID 51.53 CAP_FILE_SIZE 91357,0

INTERNAL_PRESSURE 8.68197 CFSIZE 260165632,222384128

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

XPDR_PINGS 1 CURRENT 0.114,165.5,1

ALTIM_TOP_PING 19.0,17.6 GPS 080111,090000,-7628.869,17646.980,34,1.0,39,122.6

ALTIM_BOTTOM_PING 300.9,100.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 196 74.03 SBE_CT 464 24 226.53

Roll_motor 74 111 168.46 AA4330 856 33 573.83

VBD_pump_during_apogee 278 1035 5862.31 WL_BBFL2VMT 932 105 1986.68

VBD_pump_during_surface 260 100 529.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 93 103 195.36 nil 0 0 0.00

Iridium_during_connect 225 160 731.86 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 10.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.21

TT8 1682 19 319.72

LPSleep 2246 2 47.23

TT8_Active 671 19 127.70

TT8_Sampling 1962 39 749.87

TT8_CF8 243 45 106.86

TT8_Kalman 0 0 0.00

Analog_circuits 1361 12 156.88

GPS_charging 0 0 0.00

Compass 1101 15 158.60

RAFOS 0 0 0.00

Transponder 9 30 2.60

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.76 -146.0 0.0 0.0 0 105 0.00 0.00 -85.28 0.000 2 0.000 0.000 421 2665 3327 0 0 0 0 0 0

108 -0.76 -146.0 3.2 -1.8 13 130 8.90 2.35 -6.22 0.000 4 0.197 0.062 2806 1245 3560 0 0 0 0 0 0

262 -0.76 -146.0 30.4 -15.7 40 270 0.00 2.33 0.00 0.000 6 0.000 0.055 2798 2643 3563 0 0 0 0 0 0

402 -0.76 -146.0 53.5 -16.8 65 409 0.00 1.83 0.00 0.000 4 0.000 0.059 2790 3756 3563 0 0 0 0 0 0

439 -0.76 -146.0 59.9 -18.1 71 446 0.00 1.75 0.00 0.000 6 0.000 0.041 2790 2655 3563 0 0 0 0 0 0

577 -0.76 -146.0 83.7 -17.2 96 586 0.00 1.85 0.00 0.000 4 0.000 0.060 2782 3767 3563 0 0 0 0 0 0

620 -0.76 -146.0 91.5 -18.7 103 629 0.12 1.75 0.00 0.000 6 0.158 0.040 2815 2666 3563 0 0 0 0 0 0

761 -0.76 -146.0 113.0 -15.2 120 769 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2664 3564 0 0 0 0 0 0

897 -0.76 -146.0 134.0 -15.5 133 898 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2665 3564 0 0 0 0 0 0

1024 -0.76 -146.0 153.5 -15.1 145 1025 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2664 3564 0 0 0 0 0 0

1152 -0.76 -146.0 172.4 -14.8 157 1155 0.00 1.77 0.00 0.000 4 0.000 0.059 2808 3763 3564 0 0 0 0 0 0

1189 -0.76 -146.0 179.0 -15.8 160 1198 0.00 1.73 0.00 0.000 6 0.000 0.039 2808 2676 3564 0 0 0 0 0 0

1327 -0.76 -146.0 199.6 -15.5 173 1335 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2675 3564 0 0 0 0 0 0

1463 -0.76 -146.0 220.9 -15.1 186 1467 0.00 1.77 0.00 0.000 4 0.000 0.060 2799 3767 3564 0 0 0 0 0 0

1500 -0.76 -146.0 227.5 -15.9 189 1509 0.00 1.73 0.00 0.000 6 0.000 0.040 2799 2679 3564 0 0 0 0 0 0

1637 -0.76 -146.0 248.1 -15.4 202 1638 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2678 3564 0 0 0 0 0 0

1764 -0.76 -146.0 267.1 -14.9 214 1768 0.00 1.77 0.00 0.000 4 0.000 0.059 2791 3771 3564 0 0 0 0 0 0

1802 -0.76 -146.0 273.8 -16.4 217 1809 0.00 1.73 0.00 0.000 6 0.000 0.040 2791 2683 3564 0 0 0 0 0 0

2000 -0.76 -146.0 304.3 -15.6 236 2004 0.00 1.77 0.00 0.000 4 0.000 0.060 2783 3773 3564 0 0 0 0 0 0

2028 -0.76 -146.0 309.1 -16.4 238 2036 0.08 1.73 0.00 0.000 6 0.125 0.041 2819 2689 3564 0 0 0 0 0 0

2226 -0.76 -146.0 335.7 -13.3 257 2227 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2688 3564 0 0 0 0 0 0

2417 -0.76 -146.0 360.5 -13.1 275 2421 0.00 1.80 0.00 0.000 4 0.000 0.060 2812 3766 3564 0 0 0 0 0 0

2457 -0.76 -146.0 366.0 -14.4 278 2464 0.00 1.70 0.00 0.000 6 0.000 0.040 2812 2697 3564 0 0 0 0 0 0

2547 end dive: TARGET_DEPTH_EXCEEDED

state 2547 begin apogee

2553 -0.27 0.0 378.5 13.7 287 2691 0.47 0.00 130.23 1.036 4 0.125 0.000 2966 2494 2961 0 0 0 0 0 0

2692 end apogee: CONTROL_FINISHED_OK

state 2692 begin climb

2694 0.76 146.0 385.3 0.0 299 2853 1.12 2.55 148.57 0.957 4 0.083 0.047 3306 1103 2365 0 0 0 0 0 0

2968 0.76 146.0 362.7 11.0 323 2973 0.00 2.53 0.00 0.000 6 0.000 0.049 3306 2497 2354 0 0 0 0 0 0

3166 0.76 146.0 339.9 11.2 341 3171 0.00 2.38 0.00 0.000 4 0.000 0.048 3315 1097 2351 0 0 0 0 0 0

3313 0.76 146.0 323.3 11.7 353 3320 0.00 2.35 0.00 0.000 6 0.000 0.051 3316 2515 2349 0 0 0 0 0 0

3511 0.76 146.0 299.7 11.7 372 3515 0.00 2.00 0.00 0.000 4 0.000 0.056 3315 3770 2348 0 0 0 0 0 0

3605 0.76 146.0 286.3 14.3 380 3612 0.00 1.95 0.00 0.000 6 0.000 0.039 3325 2519 2347 0 0 0 0 0 0

3803 0.76 146.0 261.5 12.6 399 3807 0.00 2.00 0.00 0.000 4 0.000 0.057 3325 3763 2346 0 0 0 0 0 0

3863 0.76 146.0 253.5 14.3 404 3867 0.00 1.90 0.00 0.000 6 0.000 0.039 3335 2536 2346 0 0 0 0 0 0

4069 0.76 146.0 226.0 12.9 423 4072 0.00 1.98 0.00 0.000 4 0.000 0.055 3334 3764 2345 0 0 0 0 0 0

4106 0.76 146.0 220.0 15.4 426 4115 0.10 1.95 0.00 0.000 6 0.137 0.039 3311 2536 2345 0 0 0 0 0 0

4244 0.76 146.0 204.4 11.4 439 4253 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 2535 2344 0 0 0 0 0 0

4380 0.76 146.0 188.6 11.5 452 4384 0.00 2.00 0.00 0.000 4 0.000 0.057 3311 3772 2344 0 0 0 0 0 0

4449 0.76 146.0 179.7 14.0 458 4453 0.00 1.90 0.00 0.000 6 0.000 0.040 3319 2549 2344 0 0 0 0 0 0

4592 0.76 146.0 162.6 11.8 471 4596 0.00 1.98 0.00 0.000 4 0.000 0.057 3319 3767 2344 0 0 0 0 0 0

4617 0.76 146.0 159.1 13.0 473 4621 0.00 1.88 0.00 0.000 6 0.000 0.038 3329 2556 2344 0 0 0 0 0 0

4758 0.76 146.0 141.6 12.0 486 4762 0.00 1.95 0.00 0.000 4 0.000 0.057 3329 3764 2343 0 0 0 0 0 0

4797 0.76 146.0 136.0 14.1 489 4805 0.00 1.88 0.00 0.000 6 0.000 0.037 3338 2576 2344 0 0 0 0 0 0

4934 0.76 146.0 118.9 12.8 502 4941 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 2575 2343 0 0 0 0 0 0

5070 0.76 146.0 101.3 13.1 515 5071 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 2575 2343 0 0 0 0 0 0

5199 0.76 146.0 85.2 12.1 537 5206 0.00 1.95 0.00 0.000 4 0.000 0.057 3338 3773 2343 0 0 0 0 0 0

5250 0.76 146.0 77.4 15.0 546 5259 0.10 1.88 0.00 0.000 6 0.132 0.039 3314 2590 2343 0 0 0 0 0 0

5395 0.76 146.0 61.5 10.9 571 5402 0.00 1.92 0.00 0.000 4 0.000 0.057 3313 3773 2343 0 0 0 0 0 0

5426 0.76 146.0 57.4 11.9 576 5434 0.00 1.88 0.00 0.000 6 0.000 0.039 3321 2591 2343 0 0 0 0 0 0

5566 0.76 146.0 41.3 11.3 601 5572 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2590 2343 0 0 0 0 0 0

5704 0.76 146.0 25.6 11.5 626 5712 0.00 1.95 0.00 0.000 4 0.000 0.057 3321 3768 2342 0 0 0 0 0 0

5741 0.76 146.0 21.1 12.9 632 5750 0.00 1.85 0.00 0.000 6 0.000 0.038 3330 2599 2342 0 0 0 0 0 0

5887 0.76 146.0 3.4 12.8 657 5893 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2598 2342 0 0 0 0 0 0

5900 end climb: SURFACE_DEPTH_REACHED

state 5900 begin surface coast

5925 end surface coast: CONTROL_FINISHED_OK

state 5925 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	556	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	623.29712	R_PORT_OVSHOOT	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	27	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	-2	T_GPS_CHARGE	-30840.719	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	080111,070454,-7628.777,17649.680,23,1.1,42,122.5	TGT_NAME	POLYNYA1
_CALLS	3	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	-73.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080111,071452,-7628.775,17649.650,13,3.1,32,122.5	MHEAD_RNG_PITCHd_Wd	168.0,177123,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	378

FREEZE	1.16,-0.257,-1.123,2,2,0	_24V_AH	20.3,80.381
FINISH	1.2,1.016583	_10V_AH	9.6,55.576
SM_CCo	5942,260.33,0.100,0,0,420,623.30	FG_AHR_24Vo	0.000
SM_GC	1.87,0.00,0.00,260.33,0.000,0.000,0.100,426,2662,420,-8.25,0.34,623.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17647.17,080111,070736	MEM	258148
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47106,663
HUMID	51.53	CAP_FILE_SIZE	91357,0
INTERNAL_PRESSURE	8.68197	CFSIZE	260165632,222384128
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	CURRENT	0.114,165.5,1
ALTIM_TOP_PING	19.0,17.6	GPS	080111,090000,-7628.869,17646.980,34,1.0,39,122.6
ALTIM_BOTTOM_PING	300.9,100.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	196	74.03	SBE_CT	464	24	226.53
Roll_motor	74	111	168.46	AA4330	856	33	573.83
VBD_pump_during_apogee	278	1035	5862.31	WL_BBFL2VMT	932	105	1986.68
VBD_pump_during_surface	260	100	529.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	93	103	195.36	nil	0	0	0.00
Iridium_during_connect	225	160	731.86	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	10.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.21
TT8	1682	19	319.72
LPSleep	2246	2	47.23
TT8_Active	671	19	127.70
TT8_Sampling	1962	39	749.87
TT8_CF8	243	45	106.86
TT8_Kalman	0	0	0.00
Analog_circuits	1361	12	156.88
GPS_charging	0	0	0.00
Compass	1101	15	158.60
RAFOS	0	0	0.00
Transponder	9	30	2.60

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.76	-146.0	0.0	0.0	0	105	0.00	0.00	-85.28	0.000	2	0.000	0.000	421	2665	3327	0	0	0	0	0	0
108	-0.76	-146.0	3.2	-1.8	13	130	8.90	2.35	-6.22	0.000	4	0.197	0.062	2806	1245	3560	0	0	0	0	0	0
262	-0.76	-146.0	30.4	-15.7	40	270	0.00	2.33	0.00	0.000	6	0.000	0.055	2798	2643	3563	0	0	0	0	0	0
402	-0.76	-146.0	53.5	-16.8	65	409	0.00	1.83	0.00	0.000	4	0.000	0.059	2790	3756	3563	0	0	0	0	0	0
439	-0.76	-146.0	59.9	-18.1	71	446	0.00	1.75	0.00	0.000	6	0.000	0.041	2790	2655	3563	0	0	0	0	0	0
577	-0.76	-146.0	83.7	-17.2	96	586	0.00	1.85	0.00	0.000	4	0.000	0.060	2782	3767	3563	0	0	0	0	0	0
620	-0.76	-146.0	91.5	-18.7	103	629	0.12	1.75	0.00	0.000	6	0.158	0.040	2815	2666	3563	0	0	0	0	0	0
761	-0.76	-146.0	113.0	-15.2	120	769	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2664	3564	0	0	0	0	0	0
897	-0.76	-146.0	134.0	-15.5	133	898	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2665	3564	0	0	0	0	0	0
1024	-0.76	-146.0	153.5	-15.1	145	1025	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2664	3564	0	0	0	0	0	0
1152	-0.76	-146.0	172.4	-14.8	157	1155	0.00	1.77	0.00	0.000	4	0.000	0.059	2808	3763	3564	0	0	0	0	0	0
1189	-0.76	-146.0	179.0	-15.8	160	1198	0.00	1.73	0.00	0.000	6	0.000	0.039	2808	2676	3564	0	0	0	0	0	0
1327	-0.76	-146.0	199.6	-15.5	173	1335	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2675	3564	0	0	0	0	0	0
1463	-0.76	-146.0	220.9	-15.1	186	1467	0.00	1.77	0.00	0.000	4	0.000	0.060	2799	3767	3564	0	0	0	0	0	0
1500	-0.76	-146.0	227.5	-15.9	189	1509	0.00	1.73	0.00	0.000	6	0.000	0.040	2799	2679	3564	0	0	0	0	0	0
1637	-0.76	-146.0	248.1	-15.4	202	1638	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2678	3564	0	0	0	0	0	0
1764	-0.76	-146.0	267.1	-14.9	214	1768	0.00	1.77	0.00	0.000	4	0.000	0.059	2791	3771	3564	0	0	0	0	0	0
1802	-0.76	-146.0	273.8	-16.4	217	1809	0.00	1.73	0.00	0.000	6	0.000	0.040	2791	2683	3564	0	0	0	0	0	0
2000	-0.76	-146.0	304.3	-15.6	236	2004	0.00	1.77	0.00	0.000	4	0.000	0.060	2783	3773	3564	0	0	0	0	0	0
2028	-0.76	-146.0	309.1	-16.4	238	2036	0.08	1.73	0.00	0.000	6	0.125	0.041	2819	2689	3564	0	0	0	0	0	0
2226	-0.76	-146.0	335.7	-13.3	257	2227	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2688	3564	0	0	0	0	0	0
2417	-0.76	-146.0	360.5	-13.1	275	2421	0.00	1.80	0.00	0.000	4	0.000	0.060	2812	3766	3564	0	0	0	0	0	0
2457	-0.76	-146.0	366.0	-14.4	278	2464	0.00	1.70	0.00	0.000	6	0.000	0.040	2812	2697	3564	0	0	0	0	0	0
2547	end dive: TARGET_DEPTH_EXCEEDED
state	2547	begin apogee
2553	-0.27	0.0	378.5	13.7	287	2691	0.47	0.00	130.23	1.036	4	0.125	0.000	2966	2494	2961	0	0	0	0	0	0
2692	end apogee: CONTROL_FINISHED_OK
state	2692	begin climb
2694	0.76	146.0	385.3	0.0	299	2853	1.12	2.55	148.57	0.957	4	0.083	0.047	3306	1103	2365	0	0	0	0	0	0
2968	0.76	146.0	362.7	11.0	323	2973	0.00	2.53	0.00	0.000	6	0.000	0.049	3306	2497	2354	0	0	0	0	0	0
3166	0.76	146.0	339.9	11.2	341	3171	0.00	2.38	0.00	0.000	4	0.000	0.048	3315	1097	2351	0	0	0	0	0	0
3313	0.76	146.0	323.3	11.7	353	3320	0.00	2.35	0.00	0.000	6	0.000	0.051	3316	2515	2349	0	0	0	0	0	0
3511	0.76	146.0	299.7	11.7	372	3515	0.00	2.00	0.00	0.000	4	0.000	0.056	3315	3770	2348	0	0	0	0	0	0
3605	0.76	146.0	286.3	14.3	380	3612	0.00	1.95	0.00	0.000	6	0.000	0.039	3325	2519	2347	0	0	0	0	0	0
3803	0.76	146.0	261.5	12.6	399	3807	0.00	2.00	0.00	0.000	4	0.000	0.057	3325	3763	2346	0	0	0	0	0	0
3863	0.76	146.0	253.5	14.3	404	3867	0.00	1.90	0.00	0.000	6	0.000	0.039	3335	2536	2346	0	0	0	0	0	0
4069	0.76	146.0	226.0	12.9	423	4072	0.00	1.98	0.00	0.000	4	0.000	0.055	3334	3764	2345	0	0	0	0	0	0
4106	0.76	146.0	220.0	15.4	426	4115	0.10	1.95	0.00	0.000	6	0.137	0.039	3311	2536	2345	0	0	0	0	0	0
4244	0.76	146.0	204.4	11.4	439	4253	0.00	0.00	0.00	0.000	6	0.000	0.000	3312	2535	2344	0	0	0	0	0	0
4380	0.76	146.0	188.6	11.5	452	4384	0.00	2.00	0.00	0.000	4	0.000	0.057	3311	3772	2344	0	0	0	0	0	0
4449	0.76	146.0	179.7	14.0	458	4453	0.00	1.90	0.00	0.000	6	0.000	0.040	3319	2549	2344	0	0	0	0	0	0
4592	0.76	146.0	162.6	11.8	471	4596	0.00	1.98	0.00	0.000	4	0.000	0.057	3319	3767	2344	0	0	0	0	0	0
4617	0.76	146.0	159.1	13.0	473	4621	0.00	1.88	0.00	0.000	6	0.000	0.038	3329	2556	2344	0	0	0	0	0	0
4758	0.76	146.0	141.6	12.0	486	4762	0.00	1.95	0.00	0.000	4	0.000	0.057	3329	3764	2343	0	0	0	0	0	0
4797	0.76	146.0	136.0	14.1	489	4805	0.00	1.88	0.00	0.000	6	0.000	0.037	3338	2576	2344	0	0	0	0	0	0
4934	0.76	146.0	118.9	12.8	502	4941	0.00	0.00	0.00	0.000	6	0.000	0.000	3338	2575	2343	0	0	0	0	0	0
5070	0.76	146.0	101.3	13.1	515	5071	0.00	0.00	0.00	0.000	6	0.000	0.000	3338	2575	2343	0	0	0	0	0	0
5199	0.76	146.0	85.2	12.1	537	5206	0.00	1.95	0.00	0.000	4	0.000	0.057	3338	3773	2343	0	0	0	0	0	0
5250	0.76	146.0	77.4	15.0	546	5259	0.10	1.88	0.00	0.000	6	0.132	0.039	3314	2590	2343	0	0	0	0	0	0
5395	0.76	146.0	61.5	10.9	571	5402	0.00	1.92	0.00	0.000	4	0.000	0.057	3313	3773	2343	0	0	0	0	0	0
5426	0.76	146.0	57.4	11.9	576	5434	0.00	1.88	0.00	0.000	6	0.000	0.039	3321	2591	2343	0	0	0	0	0	0
5566	0.76	146.0	41.3	11.3	601	5572	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2590	2343	0	0	0	0	0	0
5704	0.76	146.0	25.6	11.5	626	5712	0.00	1.95	0.00	0.000	4	0.000	0.057	3321	3768	2342	0	0	0	0	0	0
5741	0.76	146.0	21.1	12.9	632	5750	0.00	1.85	0.00	0.000	6	0.000	0.038	3330	2599	2342	0	0	0	0	0	0
5887	0.76	146.0	3.4	12.8	657	5893	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2598	2342	0	0	0	0	0	0
5900	end climb: SURFACE_DEPTH_REACHED
state	5900	begin surface coast
5925	end surface coast: CONTROL_FINISHED_OK
state	5925	begin surface