Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 557 * 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 557 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 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 34 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 -30841.975 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 -30841.975

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 34 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 557 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 080111,090000,-7628.869,17646.980,34,1.0,39,122.6 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 1.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080111,090908,-7628.885,17646.986,15,1.1,15,122.6 MHEAD_RNG_PITCHd_Wd 171.9,175969,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 383

Post-dive calculations and measurements:

FREEZE 1.23,-0.315,-0.569,2,1,0 _24V_AH 20.3,80.485

FINISH 1.2,1.008331 _10V_AH 9.7,55.665

SM_CCo 6043,73.80,0.097,0,0,1737,300.24 FG_AHR_24Vo 0.000

SM_GC 2.15,0.00,0.00,73.80,0.000,0.000,0.097,418,2662,1737,-8.27,0.34,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17647.17,080111,070723 MEM 258172

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47170,683

HUMID 54.13 CAP_FILE_SIZE 97764,0

INTERNAL_PRESSURE 8.79917 CFSIZE 260165632,222326784

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

XPDR_PINGS 2 CURRENT 0.109,164.7,1

ALTIM_TOP_PING 19.9,18.6 GPS 080111,105246,-7628.901,17644.002,15,4.9,34,122.6

ALTIM_BOTTOM_PING 350.2,51.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 197 74.72 SBE_CT 478 24 233.07

Roll_motor 73 78 117.13 AA4330 886 33 594.12

VBD_pump_during_apogee 280 1038 5917.59 WL_BBFL2VMT 960 105 2046.87

VBD_pump_during_surface 73 97 145.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 62.77 nil 0 0 0.00

Iridium_during_connect 37 160 120.34 nil 0 0 0.00

Iridium_during_xfer 322 223 1461.11 nil 0 0 0.00

Transponder_ping 1 420 14.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 7.95

TT8 1707 19 327.88

LPSleep 2148 2 45.64

TT8_Active 523 19 100.51

TT8_Sampling 2015 39 778.10

TT8_CF8 277 45 123.27

TT8_Kalman 0 0 0.00

Analog_circuits 1225 12 142.70

GPS_charging 0 0 0.00

Compass 1106 15 161.05

RAFOS 0 0 0.00

Transponder 10 30 3.09

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 -0.76 -146.0 0.0 0.0 0 162 0.00 0.00 -143.73 0.000 2 0.000 0.000 425 2663 3296 0 0 0 0 0 0

167 -0.76 -146.0 3.0 -1.0 21 190 8.98 2.35 -7.15 0.000 4 0.197 0.062 2810 1246 3561 0 0 0 0 0 0

329 -0.76 -146.0 30.4 -15.2 49 336 0.00 2.30 0.00 0.000 6 0.000 0.054 2801 2649 3564 0 0 0 0 0 0

465 -0.76 -146.0 52.1 -15.9 74 473 0.00 1.83 0.00 0.000 4 0.000 0.058 2792 3764 3564 0 0 0 0 0 0

503 -0.76 -146.0 58.6 -18.1 80 511 0.00 1.77 0.00 0.000 6 0.000 0.039 2793 2641 3564 0 0 0 0 0 0

645 -0.76 -146.0 81.7 -15.7 105 651 0.00 1.85 0.00 0.000 4 0.000 0.060 2785 3771 3564 0 0 0 0 0 0

680 -0.76 -146.0 88.4 -17.9 111 689 0.12 1.77 0.00 0.000 6 0.161 0.040 2818 2632 3565 0 0 0 0 0 0

824 -0.76 -146.0 109.8 -14.5 131 825 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2630 3565 0 0 0 0 0 0

951 -0.76 -146.0 128.3 -14.6 143 955 0.00 1.85 0.00 0.000 4 0.000 0.060 2811 3767 3565 0 0 0 0 0 0

978 -0.76 -146.0 133.2 -14.8 145 986 0.00 1.75 0.00 0.000 6 0.000 0.040 2811 2661 3565 0 0 0 0 0 0

1114 -0.76 -146.0 153.1 -15.0 158 1115 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2661 3565 0 0 0 0 0 0

1241 -0.76 -146.0 172.2 -15.2 170 1245 0.00 1.80 0.00 0.000 4 0.000 0.060 2802 3766 3566 0 0 0 0 0 0

1279 -0.76 -146.0 178.7 -15.2 173 1288 0.00 1.75 0.00 0.000 6 0.000 0.039 2802 2664 3565 0 0 0 0 0 0

1415 -0.76 -146.0 199.5 -16.0 186 1416 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2664 3565 0 0 0 0 0 0

1543 -0.76 -146.0 219.8 -15.8 198 1546 0.00 1.80 0.00 0.000 4 0.000 0.059 2794 3773 3565 0 0 0 0 0 0

1567 -0.76 -146.0 223.8 -16.1 200 1571 0.00 1.70 0.00 0.000 6 0.000 0.041 2793 2676 3565 0 0 0 0 0 0

1708 -0.76 -146.0 247.1 -16.3 213 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2673 3565 0 0 0 0 0 0

1835 -0.76 -146.0 268.0 -16.3 225 1839 0.00 1.77 0.00 0.000 4 0.000 0.060 2785 3763 3565 0 0 0 0 0 0

1861 -0.76 -146.0 273.0 -17.5 227 1870 0.08 1.73 0.00 0.000 6 0.138 0.039 2811 2677 3565 0 0 0 0 0 0

2063 -0.76 -146.0 301.7 -14.4 246 2067 0.00 1.77 0.00 0.000 4 0.000 0.061 2803 3762 3565 0 0 0 0 0 0

2109 -0.76 -146.0 309.2 -15.5 250 2112 0.00 1.67 0.00 0.000 6 0.000 0.040 2803 2681 3565 0 0 0 0 0 0

2314 -0.76 -146.0 339.3 -14.9 269 2315 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2679 3565 0 0 0 0 0 0

2503 -0.76 -146.0 367.3 -14.6 287 2506 0.00 1.77 0.00 0.000 4 0.000 0.060 2795 3768 3565 0 0 0 0 0 0

2542 -0.76 -146.0 373.6 -15.8 290 2549 0.00 1.73 0.00 0.000 6 0.000 0.041 2795 2687 3565 0 0 0 0 0 0

2612 end dive: TARGET_DEPTH_EXCEEDED

state 2612 begin apogee

2618 -0.27 0.0 383.9 15.0 297 2756 0.55 0.00 131.25 1.039 4 0.127 0.000 2970 2487 2961 0 0 0 0 0 0

2757 end apogee: CONTROL_FINISHED_OK

state 2757 begin climb

2759 0.76 146.0 391.3 0.0 309 2917 1.08 0.00 149.35 0.960 6 0.087 0.000 3301 2487 2364 0 0 0 0 0 0

3108 0.76 146.0 357.9 11.4 341 3112 0.00 2.28 0.00 0.000 4 0.000 0.056 3300 3758 2352 0 0 0 0 0 0

3174 0.76 146.0 349.0 13.2 346 3181 0.00 2.12 0.00 0.000 6 0.000 0.038 3310 2523 2351 0 0 0 0 0 0

3373 0.76 146.0 325.0 12.0 365 3377 0.00 2.08 0.00 0.000 4 0.000 0.057 3310 3772 2348 0 0 0 0 0 0

3405 0.76 146.0 320.4 14.1 367 3413 0.00 2.03 0.00 0.000 6 0.000 0.039 3320 2516 2348 0 0 0 0 0 0

3603 0.76 146.0 295.9 12.4 386 3607 0.00 2.03 0.00 0.000 4 0.000 0.057 3320 3771 2346 0 0 0 0 0 0

3661 0.76 146.0 287.9 15.2 391 3665 0.00 1.95 0.00 0.000 6 0.000 0.039 3329 2516 2346 0 0 0 0 0 0

3864 0.76 146.0 261.2 12.7 410 3867 0.00 2.03 0.00 0.000 4 0.000 0.057 3329 3770 2344 0 0 0 0 0 0

3909 0.76 146.0 254.5 15.2 414 3913 0.00 1.90 0.00 0.000 6 0.000 0.039 3339 2542 2344 0 0 0 0 0 0

4115 0.76 146.0 226.5 13.5 433 4122 0.00 0.00 0.00 0.000 6 0.000 0.000 3339 2538 2344 0 0 0 0 0 0

4250 0.76 146.0 208.3 13.2 446 4254 0.00 1.98 0.00 0.000 4 0.000 0.056 3339 3767 2343 0 0 0 0 0 0

4299 0.76 146.0 200.5 15.8 450 4308 0.10 1.95 0.00 0.000 6 0.138 0.038 3317 2541 2343 0 0 0 0 0 0

4436 0.76 146.0 184.4 11.8 463 4445 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2539 2343 0 0 0 0 0 0

4572 0.76 146.0 168.8 11.5 476 4576 0.00 1.98 0.00 0.000 4 0.000 0.057 3316 3762 2342 0 0 0 0 0 0

4641 0.76 146.0 159.8 14.1 482 4645 0.00 1.90 0.00 0.000 6 0.000 0.038 3323 2538 2342 0 0 0 0 0 0

4784 0.76 146.0 142.9 11.8 495 4792 0.00 0.00 0.00 0.000 6 0.000 0.000 3323 2535 2342 0 0 0 0 0 0

4920 0.76 146.0 127.0 11.6 508 4924 0.00 2.00 0.00 0.000 4 0.000 0.057 3323 3773 2342 0 0 0 0 0 0

4968 0.76 146.0 121.0 13.4 512 4971 0.00 1.90 0.00 0.000 6 0.000 0.039 3333 2551 2342 0 0 0 0 0 0

5110 0.76 146.0 104.0 11.5 525 5118 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2549 2341 0 0 0 0 0 0

5248 0.76 146.0 87.7 11.8 547 5256 0.00 1.98 0.00 0.000 4 0.000 0.057 3333 3763 2341 0 0 0 0 0 0

5286 0.76 146.0 82.7 13.7 553 5294 0.12 1.90 0.00 0.000 6 0.163 0.038 3309 2549 2341 0 0 0 0 0 0

5426 0.76 146.0 67.8 10.3 578 5433 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2547 2341 0 0 0 0 0 0

5566 0.76 146.0 53.2 10.2 603 5574 0.00 2.03 0.00 0.000 4 0.000 0.057 3309 3782 2341 0 0 0 0 0 0

5646 0.76 146.0 43.6 13.0 617 5653 0.00 1.95 0.00 0.000 6 0.000 0.038 3317 2554 2340 0 0 0 0 0 0

5784 0.76 146.0 28.2 11.1 642 5792 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2552 2340 0 0 0 0 0 0

5923 0.76 146.0 12.9 10.7 667 5930 0.00 1.98 0.00 0.000 4 0.000 0.057 3317 3764 2340 0 0 0 0 0 0

5985 0.76 146.0 5.0 14.3 677 5991 0.00 1.88 0.00 0.000 6 0.000 0.038 3327 2559 2340 0 0 0 0 0 0

6000 end climb: SURFACE_DEPTH_REACHED

state 6000 begin surface coast

6025 end surface coast: CONTROL_FINISHED_OK

state 6025 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	557	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	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	34	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	-30841.975	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	080111,090000,-7628.869,17646.980,34,1.0,39,122.6	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	1.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080111,090908,-7628.885,17646.986,15,1.1,15,122.6	MHEAD_RNG_PITCHd_Wd	171.9,175969,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	383

FREEZE	1.23,-0.315,-0.569,2,1,0	_24V_AH	20.3,80.485
FINISH	1.2,1.008331	_10V_AH	9.7,55.665
SM_CCo	6043,73.80,0.097,0,0,1737,300.24	FG_AHR_24Vo	0.000
SM_GC	2.15,0.00,0.00,73.80,0.000,0.000,0.097,418,2662,1737,-8.27,0.34,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17647.17,080111,070723	MEM	258172
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47170,683
HUMID	54.13	CAP_FILE_SIZE	97764,0
INTERNAL_PRESSURE	8.79917	CFSIZE	260165632,222326784
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.109,164.7,1
ALTIM_TOP_PING	19.9,18.6	GPS	080111,105246,-7628.901,17644.002,15,4.9,34,122.6
ALTIM_BOTTOM_PING	350.2,51.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	197	74.72	SBE_CT	478	24	233.07
Roll_motor	73	78	117.13	AA4330	886	33	594.12
VBD_pump_during_apogee	280	1038	5917.59	WL_BBFL2VMT	960	105	2046.87
VBD_pump_during_surface	73	97	145.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	62.77	nil	0	0	0.00
Iridium_during_connect	37	160	120.34	nil	0	0	0.00
Iridium_during_xfer	322	223	1461.11	nil	0	0	0.00
Transponder_ping	1	420	14.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	7.95
TT8	1707	19	327.88
LPSleep	2148	2	45.64
TT8_Active	523	19	100.51
TT8_Sampling	2015	39	778.10
TT8_CF8	277	45	123.27
TT8_Kalman	0	0	0.00
Analog_circuits	1225	12	142.70
GPS_charging	0	0	0.00
Compass	1106	15	161.05
RAFOS	0	0	0.00
Transponder	10	30	3.09

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	-0.76	-146.0	0.0	0.0	0	162	0.00	0.00	-143.73	0.000	2	0.000	0.000	425	2663	3296	0	0	0	0	0	0
167	-0.76	-146.0	3.0	-1.0	21	190	8.98	2.35	-7.15	0.000	4	0.197	0.062	2810	1246	3561	0	0	0	0	0	0
329	-0.76	-146.0	30.4	-15.2	49	336	0.00	2.30	0.00	0.000	6	0.000	0.054	2801	2649	3564	0	0	0	0	0	0
465	-0.76	-146.0	52.1	-15.9	74	473	0.00	1.83	0.00	0.000	4	0.000	0.058	2792	3764	3564	0	0	0	0	0	0
503	-0.76	-146.0	58.6	-18.1	80	511	0.00	1.77	0.00	0.000	6	0.000	0.039	2793	2641	3564	0	0	0	0	0	0
645	-0.76	-146.0	81.7	-15.7	105	651	0.00	1.85	0.00	0.000	4	0.000	0.060	2785	3771	3564	0	0	0	0	0	0
680	-0.76	-146.0	88.4	-17.9	111	689	0.12	1.77	0.00	0.000	6	0.161	0.040	2818	2632	3565	0	0	0	0	0	0
824	-0.76	-146.0	109.8	-14.5	131	825	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2630	3565	0	0	0	0	0	0
951	-0.76	-146.0	128.3	-14.6	143	955	0.00	1.85	0.00	0.000	4	0.000	0.060	2811	3767	3565	0	0	0	0	0	0
978	-0.76	-146.0	133.2	-14.8	145	986	0.00	1.75	0.00	0.000	6	0.000	0.040	2811	2661	3565	0	0	0	0	0	0
1114	-0.76	-146.0	153.1	-15.0	158	1115	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2661	3565	0	0	0	0	0	0
1241	-0.76	-146.0	172.2	-15.2	170	1245	0.00	1.80	0.00	0.000	4	0.000	0.060	2802	3766	3566	0	0	0	0	0	0
1279	-0.76	-146.0	178.7	-15.2	173	1288	0.00	1.75	0.00	0.000	6	0.000	0.039	2802	2664	3565	0	0	0	0	0	0
1415	-0.76	-146.0	199.5	-16.0	186	1416	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2664	3565	0	0	0	0	0	0
1543	-0.76	-146.0	219.8	-15.8	198	1546	0.00	1.80	0.00	0.000	4	0.000	0.059	2794	3773	3565	0	0	0	0	0	0
1567	-0.76	-146.0	223.8	-16.1	200	1571	0.00	1.70	0.00	0.000	6	0.000	0.041	2793	2676	3565	0	0	0	0	0	0
1708	-0.76	-146.0	247.1	-16.3	213	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2673	3565	0	0	0	0	0	0
1835	-0.76	-146.0	268.0	-16.3	225	1839	0.00	1.77	0.00	0.000	4	0.000	0.060	2785	3763	3565	0	0	0	0	0	0
1861	-0.76	-146.0	273.0	-17.5	227	1870	0.08	1.73	0.00	0.000	6	0.138	0.039	2811	2677	3565	0	0	0	0	0	0
2063	-0.76	-146.0	301.7	-14.4	246	2067	0.00	1.77	0.00	0.000	4	0.000	0.061	2803	3762	3565	0	0	0	0	0	0
2109	-0.76	-146.0	309.2	-15.5	250	2112	0.00	1.67	0.00	0.000	6	0.000	0.040	2803	2681	3565	0	0	0	0	0	0
2314	-0.76	-146.0	339.3	-14.9	269	2315	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2679	3565	0	0	0	0	0	0
2503	-0.76	-146.0	367.3	-14.6	287	2506	0.00	1.77	0.00	0.000	4	0.000	0.060	2795	3768	3565	0	0	0	0	0	0
2542	-0.76	-146.0	373.6	-15.8	290	2549	0.00	1.73	0.00	0.000	6	0.000	0.041	2795	2687	3565	0	0	0	0	0	0
2612	end dive: TARGET_DEPTH_EXCEEDED
state	2612	begin apogee
2618	-0.27	0.0	383.9	15.0	297	2756	0.55	0.00	131.25	1.039	4	0.127	0.000	2970	2487	2961	0	0	0	0	0	0
2757	end apogee: CONTROL_FINISHED_OK
state	2757	begin climb
2759	0.76	146.0	391.3	0.0	309	2917	1.08	0.00	149.35	0.960	6	0.087	0.000	3301	2487	2364	0	0	0	0	0	0
3108	0.76	146.0	357.9	11.4	341	3112	0.00	2.28	0.00	0.000	4	0.000	0.056	3300	3758	2352	0	0	0	0	0	0
3174	0.76	146.0	349.0	13.2	346	3181	0.00	2.12	0.00	0.000	6	0.000	0.038	3310	2523	2351	0	0	0	0	0	0
3373	0.76	146.0	325.0	12.0	365	3377	0.00	2.08	0.00	0.000	4	0.000	0.057	3310	3772	2348	0	0	0	0	0	0
3405	0.76	146.0	320.4	14.1	367	3413	0.00	2.03	0.00	0.000	6	0.000	0.039	3320	2516	2348	0	0	0	0	0	0
3603	0.76	146.0	295.9	12.4	386	3607	0.00	2.03	0.00	0.000	4	0.000	0.057	3320	3771	2346	0	0	0	0	0	0
3661	0.76	146.0	287.9	15.2	391	3665	0.00	1.95	0.00	0.000	6	0.000	0.039	3329	2516	2346	0	0	0	0	0	0
3864	0.76	146.0	261.2	12.7	410	3867	0.00	2.03	0.00	0.000	4	0.000	0.057	3329	3770	2344	0	0	0	0	0	0
3909	0.76	146.0	254.5	15.2	414	3913	0.00	1.90	0.00	0.000	6	0.000	0.039	3339	2542	2344	0	0	0	0	0	0
4115	0.76	146.0	226.5	13.5	433	4122	0.00	0.00	0.00	0.000	6	0.000	0.000	3339	2538	2344	0	0	0	0	0	0
4250	0.76	146.0	208.3	13.2	446	4254	0.00	1.98	0.00	0.000	4	0.000	0.056	3339	3767	2343	0	0	0	0	0	0
4299	0.76	146.0	200.5	15.8	450	4308	0.10	1.95	0.00	0.000	6	0.138	0.038	3317	2541	2343	0	0	0	0	0	0
4436	0.76	146.0	184.4	11.8	463	4445	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2539	2343	0	0	0	0	0	0
4572	0.76	146.0	168.8	11.5	476	4576	0.00	1.98	0.00	0.000	4	0.000	0.057	3316	3762	2342	0	0	0	0	0	0
4641	0.76	146.0	159.8	14.1	482	4645	0.00	1.90	0.00	0.000	6	0.000	0.038	3323	2538	2342	0	0	0	0	0	0
4784	0.76	146.0	142.9	11.8	495	4792	0.00	0.00	0.00	0.000	6	0.000	0.000	3323	2535	2342	0	0	0	0	0	0
4920	0.76	146.0	127.0	11.6	508	4924	0.00	2.00	0.00	0.000	4	0.000	0.057	3323	3773	2342	0	0	0	0	0	0
4968	0.76	146.0	121.0	13.4	512	4971	0.00	1.90	0.00	0.000	6	0.000	0.039	3333	2551	2342	0	0	0	0	0	0
5110	0.76	146.0	104.0	11.5	525	5118	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2549	2341	0	0	0	0	0	0
5248	0.76	146.0	87.7	11.8	547	5256	0.00	1.98	0.00	0.000	4	0.000	0.057	3333	3763	2341	0	0	0	0	0	0
5286	0.76	146.0	82.7	13.7	553	5294	0.12	1.90	0.00	0.000	6	0.163	0.038	3309	2549	2341	0	0	0	0	0	0
5426	0.76	146.0	67.8	10.3	578	5433	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2547	2341	0	0	0	0	0	0
5566	0.76	146.0	53.2	10.2	603	5574	0.00	2.03	0.00	0.000	4	0.000	0.057	3309	3782	2341	0	0	0	0	0	0
5646	0.76	146.0	43.6	13.0	617	5653	0.00	1.95	0.00	0.000	6	0.000	0.038	3317	2554	2340	0	0	0	0	0	0
5784	0.76	146.0	28.2	11.1	642	5792	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2552	2340	0	0	0	0	0	0
5923	0.76	146.0	12.9	10.7	667	5930	0.00	1.98	0.00	0.000	4	0.000	0.057	3317	3764	2340	0	0	0	0	0	0
5985	0.76	146.0	5.0	14.3	677	5991	0.00	1.88	0.00	0.000	6	0.000	0.038	3327	2559	2340	0	0	0	0	0	0
6000	end climb: SURFACE_DEPTH_REACHED
state	6000	begin surface coast
6025	end surface coast: CONTROL_FINISHED_OK
state	6025	begin surface