Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 560 * 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 560 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 32 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 -30845.752 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 -30845.752

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 35 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 32 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 560 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 080111,144755,-7628.661,17638.814,40,1.1,40,122.8 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 2.03 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 080111,145725,-7628.637,17638.836,11,1.2,16,122.7 MHEAD_RNG_PITCHd_Wd 151.0,172451,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 378

Post-dive calculations and measurements:

FREEZE 1.09,-0.117,-0.329,2,2,0 _24V_AH 20.3,80.919

FINISH 1.1,1.004729 _10V_AH 9.6,55.934

SM_CCo 5949,298.62,0.717,6,0,419,623.30 FG_AHR_24Vo 0.000

SM_GC 1.87,0.00,0.00,298.62,0.000,0.000,0.717,425,2670,419,-8.24,0.57,623.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17646.66,080111,141430 MEM 258144

TT8_MAMPS 0.027713 DATA_FILE_SIZE 46954,668

HUMID 51.41 CAP_FILE_SIZE 91115,0

INTERNAL_PRESSURE 8.68197 CFSIZE 260165632,222171136

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,0

XPDR_PINGS 1 CURRENT 0.029, 33.9,1

ALTIM_TOP_PING 19.6,17.6 GPS 080111,164336,-7628.511,17635.803,10,1.5,27,122.8

ALTIM_BOTTOM_PING 301.0,105.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 192 72.01 SBE_CT 468 24 228.43

Roll_motor 70 86 123.98 AA4330 864 33 578.93

VBD_pump_during_apogee 278 1037 5869.39 WL_BBFL2VMT 930 105 1983.51

VBD_pump_during_surface 298 716 4345.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 83 103 173.88 nil 0 0 0.00

Iridium_during_connect 225 160 731.84 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 17 50 8.20

TT8 1703 19 323.74

LPSleep 2249 2 47.29

TT8_Active 729 19 138.70

TT8_Sampling 1941 39 741.69

TT8_CF8 230 45 101.31

TT8_Kalman 0 0 0.00

Analog_circuits 1418 12 163.39

GPS_charging 0 0 0.00

Compass 1116 15 160.78

RAFOS 0 0 0.00

Transponder 9 30 2.61

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.76 -146.0 0.0 0.0 0 99 0.00 0.00 -78.47 0.000 2 0.000 0.000 420 2669 3177 0 0 0 0 0 0

102 -0.76 -146.0 3.0 -1.2 12 131 8.80 2.35 -12.05 0.000 4 0.193 0.063 2809 1241 3561 0 0 0 0 0 0

186 -0.76 -146.0 15.7 -15.6 26 195 0.00 2.33 0.00 0.000 6 0.000 0.055 2801 2642 3562 0 0 0 0 0 0

326 -0.76 -146.0 38.5 -16.6 51 333 0.00 1.83 0.00 0.000 4 0.000 0.059 2792 3774 3563 0 0 0 0 0 0

364 -0.76 -146.0 45.3 -17.8 57 371 0.00 1.77 0.00 0.000 6 0.000 0.041 2792 2635 3563 0 0 0 0 0 0

503 -0.76 -146.0 69.6 -17.5 82 510 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2634 3563 0 0 0 0 0 0

644 -0.76 -146.0 93.9 -16.7 107 650 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2634 3564 0 0 0 0 0 0

781 -0.76 -146.0 117.0 -16.9 123 785 0.00 1.85 0.00 0.000 4 0.000 0.060 2785 3770 3564 0 0 0 0 0 0

829 -0.76 -146.0 126.4 -18.2 127 839 0.08 1.75 0.00 0.000 6 0.139 0.040 2810 2669 3564 0 0 0 0 0 0

967 -0.76 -146.0 147.5 -15.5 140 971 0.00 1.77 0.00 0.000 4 0.000 0.058 2802 3766 3564 0 0 0 0 0 0

994 -0.76 -146.0 152.6 -17.1 142 1003 0.00 1.75 0.00 0.000 6 0.000 0.039 2803 2665 3564 0 0 0 0 0 0

1131 -0.76 -146.0 173.8 -15.9 155 1138 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2664 3564 0 0 0 0 0 0

1266 -0.76 -146.0 195.8 -16.4 168 1270 0.00 1.80 0.00 0.000 4 0.000 0.058 2794 3771 3564 0 0 0 0 0 0

1302 -0.76 -146.0 201.8 -17.3 171 1305 0.00 1.70 0.00 0.000 6 0.000 0.040 2794 2677 3564 0 0 0 0 0 0

1443 -0.76 -146.0 224.8 -16.2 184 1444 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2676 3564 0 0 0 0 0 0

1570 -0.76 -146.0 245.4 -15.9 196 1571 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2676 3564 0 0 0 0 0 0

1696 -0.76 -146.0 265.7 -16.1 208 1699 0.00 1.77 0.00 0.000 4 0.000 0.060 2786 3764 3564 0 0 0 0 0 0

1723 -0.76 -146.0 270.4 -16.9 210 1731 0.05 1.73 0.00 0.000 6 0.122 0.041 2813 2683 3564 0 0 0 0 0 0

1923 -0.76 -146.0 298.3 -13.9 229 1924 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2681 3564 0 0 0 0 0 0

2112 -0.76 -146.0 325.1 -14.8 247 2116 0.00 1.83 0.00 0.000 4 0.000 0.060 2806 3767 3564 0 0 0 0 0 0

2162 -0.76 -146.0 333.0 -15.5 251 2169 0.00 1.73 0.00 0.000 6 0.000 0.040 2806 2685 3564 0 0 0 0 0 0

2361 -0.76 -146.0 361.5 -14.3 270 2364 0.00 1.77 0.00 0.000 4 0.000 0.060 2798 3766 3564 0 0 0 0 0 0

2396 -0.76 -146.0 366.8 -15.3 273 2399 0.00 1.67 0.00 0.000 6 0.000 0.041 2798 2688 3564 0 0 0 0 0 0

2469 end dive: TARGET_DEPTH_EXCEEDED

state 2469 begin apogee

2476 -0.27 0.0 378.1 14.8 280 2614 0.55 0.00 130.40 1.037 4 0.129 0.000 2972 2489 2961 0 0 0 0 0 0

2615 end apogee: CONTROL_FINISHED_OK

state 2615 begin climb

2617 0.76 146.0 385.4 0.0 292 2778 1.10 2.53 148.32 0.957 4 0.080 0.047 3309 1105 2364 0 0 0 0 0 0

2882 0.76 146.0 364.1 11.3 315 2887 0.00 2.55 0.00 0.000 6 0.000 0.048 3308 2504 2355 0 0 0 0 0 0

3080 0.76 146.0 340.8 11.2 333 3084 0.00 2.40 0.00 0.000 4 0.000 0.047 3315 1106 2351 0 0 0 0 0 0

3231 0.76 146.0 323.1 11.3 346 3238 0.00 2.38 0.00 0.000 6 0.000 0.050 3315 2526 2349 0 0 0 0 0 0

3431 0.76 146.0 299.6 11.8 365 3435 0.00 1.98 0.00 0.000 4 0.000 0.056 3316 3766 2348 0 0 0 0 0 0

3536 0.76 146.0 284.6 13.5 374 3544 0.00 1.95 0.00 0.000 6 0.000 0.037 3324 2534 2347 0 0 0 0 0 0

3735 0.76 146.0 261.1 11.5 393 3738 0.00 1.98 0.00 0.000 4 0.000 0.056 3323 3765 2346 0 0 0 0 0 0

3784 0.76 146.0 254.4 13.4 397 3792 0.00 1.95 0.00 0.000 6 0.000 0.038 3333 2535 2345 0 0 0 0 0 0

3984 0.76 146.0 230.0 12.4 416 3988 0.00 2.00 0.00 0.000 4 0.000 0.056 3333 3776 2345 0 0 0 0 0 0

4020 0.76 146.0 225.0 14.3 419 4025 0.12 1.92 0.00 0.000 6 0.161 0.039 3310 2541 2345 0 0 0 0 0 0

4158 0.76 146.0 209.6 10.9 431 4165 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2538 2344 0 0 0 0 0 0

4293 0.76 146.0 194.6 11.1 444 4296 0.00 1.98 0.00 0.000 4 0.000 0.057 3310 3765 2344 0 0 0 0 0 0

4330 0.76 146.0 189.6 12.4 447 4339 0.00 1.92 0.00 0.000 6 0.000 0.037 3317 2549 2344 0 0 0 0 0 0

4467 0.76 146.0 174.0 11.9 460 4471 0.00 1.98 0.00 0.000 4 0.000 0.057 3318 3769 2344 0 0 0 0 0 0

4513 0.76 146.0 167.8 13.1 464 4517 0.00 1.88 0.00 0.000 6 0.000 0.038 3327 2556 2344 0 0 0 0 0 0

4654 0.76 146.0 150.8 11.8 477 4656 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2554 2343 0 0 0 0 0 0

4782 0.76 146.0 135.8 11.8 489 4786 0.00 1.95 0.00 0.000 4 0.000 0.056 3327 3766 2343 0 0 0 0 0 0

4840 0.76 146.0 128.0 13.7 494 4844 0.00 1.85 0.00 0.000 6 0.000 0.037 3336 2565 2343 0 0 0 0 0 0

4981 0.76 146.0 109.9 12.6 507 4983 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2563 2343 0 0 0 0 0 0

5110 0.76 146.0 94.0 12.0 523 5117 0.00 1.98 0.00 0.000 4 0.000 0.056 3336 3777 2343 0 0 0 0 0 0

5161 0.76 146.0 86.6 13.7 532 5170 0.10 1.90 0.00 0.000 6 0.131 0.039 3313 2577 2343 0 0 0 0 0 0

5303 0.76 146.0 71.0 11.2 557 5310 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 2577 2343 0 0 0 0 0 0

5441 0.76 146.0 55.5 11.0 582 5449 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 2577 2342 0 0 0 0 0 0

5582 0.76 146.0 40.0 11.5 607 5588 0.00 1.92 0.00 0.000 4 0.000 0.055 3312 3767 2342 0 0 0 0 0 0

5618 0.76 146.0 35.5 12.8 613 5626 0.00 1.85 0.00 0.000 6 0.000 0.037 3320 2573 2343 0 0 0 0 0 0

5759 0.76 146.0 18.9 10.9 638 5767 0.00 0.00 0.00 0.000 6 0.000 0.000 3320 2573 2342 0 0 0 0 0 0

5902 end climb: SURFACE_DEPTH_REACHED

state 5902 begin surface coast

5932 end surface coast: CONTROL_FINISHED_OK

state 5932 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	560	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	32	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	-30845.752	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	080111,144755,-7628.661,17638.814,40,1.1,40,122.8	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	2.03	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	080111,145725,-7628.637,17638.836,11,1.2,16,122.7	MHEAD_RNG_PITCHd_Wd	151.0,172451,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	378

FREEZE	1.09,-0.117,-0.329,2,2,0	_24V_AH	20.3,80.919
FINISH	1.1,1.004729	_10V_AH	9.6,55.934
SM_CCo	5949,298.62,0.717,6,0,419,623.30	FG_AHR_24Vo	0.000
SM_GC	1.87,0.00,0.00,298.62,0.000,0.000,0.717,425,2670,419,-8.24,0.57,623.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17646.66,080111,141430	MEM	258144
TT8_MAMPS	0.027713	DATA_FILE_SIZE	46954,668
HUMID	51.41	CAP_FILE_SIZE	91115,0
INTERNAL_PRESSURE	8.68197	CFSIZE	260165632,222171136
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
XPDR_PINGS	1	CURRENT	0.029, 33.9,1
ALTIM_TOP_PING	19.6,17.6	GPS	080111,164336,-7628.511,17635.803,10,1.5,27,122.8
ALTIM_BOTTOM_PING	301.0,105.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	192	72.01	SBE_CT	468	24	228.43
Roll_motor	70	86	123.98	AA4330	864	33	578.93
VBD_pump_during_apogee	278	1037	5869.39	WL_BBFL2VMT	930	105	1983.51
VBD_pump_during_surface	298	716	4345.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	83	103	173.88	nil	0	0	0.00
Iridium_during_connect	225	160	731.84	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	17	50	8.20
TT8	1703	19	323.74
LPSleep	2249	2	47.29
TT8_Active	729	19	138.70
TT8_Sampling	1941	39	741.69
TT8_CF8	230	45	101.31
TT8_Kalman	0	0	0.00
Analog_circuits	1418	12	163.39
GPS_charging	0	0	0.00
Compass	1116	15	160.78
RAFOS	0	0	0.00
Transponder	9	30	2.61

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.76	-146.0	0.0	0.0	0	99	0.00	0.00	-78.47	0.000	2	0.000	0.000	420	2669	3177	0	0	0	0	0	0
102	-0.76	-146.0	3.0	-1.2	12	131	8.80	2.35	-12.05	0.000	4	0.193	0.063	2809	1241	3561	0	0	0	0	0	0
186	-0.76	-146.0	15.7	-15.6	26	195	0.00	2.33	0.00	0.000	6	0.000	0.055	2801	2642	3562	0	0	0	0	0	0
326	-0.76	-146.0	38.5	-16.6	51	333	0.00	1.83	0.00	0.000	4	0.000	0.059	2792	3774	3563	0	0	0	0	0	0
364	-0.76	-146.0	45.3	-17.8	57	371	0.00	1.77	0.00	0.000	6	0.000	0.041	2792	2635	3563	0	0	0	0	0	0
503	-0.76	-146.0	69.6	-17.5	82	510	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2634	3563	0	0	0	0	0	0
644	-0.76	-146.0	93.9	-16.7	107	650	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2634	3564	0	0	0	0	0	0
781	-0.76	-146.0	117.0	-16.9	123	785	0.00	1.85	0.00	0.000	4	0.000	0.060	2785	3770	3564	0	0	0	0	0	0
829	-0.76	-146.0	126.4	-18.2	127	839	0.08	1.75	0.00	0.000	6	0.139	0.040	2810	2669	3564	0	0	0	0	0	0
967	-0.76	-146.0	147.5	-15.5	140	971	0.00	1.77	0.00	0.000	4	0.000	0.058	2802	3766	3564	0	0	0	0	0	0
994	-0.76	-146.0	152.6	-17.1	142	1003	0.00	1.75	0.00	0.000	6	0.000	0.039	2803	2665	3564	0	0	0	0	0	0
1131	-0.76	-146.0	173.8	-15.9	155	1138	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2664	3564	0	0	0	0	0	0
1266	-0.76	-146.0	195.8	-16.4	168	1270	0.00	1.80	0.00	0.000	4	0.000	0.058	2794	3771	3564	0	0	0	0	0	0
1302	-0.76	-146.0	201.8	-17.3	171	1305	0.00	1.70	0.00	0.000	6	0.000	0.040	2794	2677	3564	0	0	0	0	0	0
1443	-0.76	-146.0	224.8	-16.2	184	1444	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2676	3564	0	0	0	0	0	0
1570	-0.76	-146.0	245.4	-15.9	196	1571	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2676	3564	0	0	0	0	0	0
1696	-0.76	-146.0	265.7	-16.1	208	1699	0.00	1.77	0.00	0.000	4	0.000	0.060	2786	3764	3564	0	0	0	0	0	0
1723	-0.76	-146.0	270.4	-16.9	210	1731	0.05	1.73	0.00	0.000	6	0.122	0.041	2813	2683	3564	0	0	0	0	0	0
1923	-0.76	-146.0	298.3	-13.9	229	1924	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	2681	3564	0	0	0	0	0	0
2112	-0.76	-146.0	325.1	-14.8	247	2116	0.00	1.83	0.00	0.000	4	0.000	0.060	2806	3767	3564	0	0	0	0	0	0
2162	-0.76	-146.0	333.0	-15.5	251	2169	0.00	1.73	0.00	0.000	6	0.000	0.040	2806	2685	3564	0	0	0	0	0	0
2361	-0.76	-146.0	361.5	-14.3	270	2364	0.00	1.77	0.00	0.000	4	0.000	0.060	2798	3766	3564	0	0	0	0	0	0
2396	-0.76	-146.0	366.8	-15.3	273	2399	0.00	1.67	0.00	0.000	6	0.000	0.041	2798	2688	3564	0	0	0	0	0	0
2469	end dive: TARGET_DEPTH_EXCEEDED
state	2469	begin apogee
2476	-0.27	0.0	378.1	14.8	280	2614	0.55	0.00	130.40	1.037	4	0.129	0.000	2972	2489	2961	0	0	0	0	0	0
2615	end apogee: CONTROL_FINISHED_OK
state	2615	begin climb
2617	0.76	146.0	385.4	0.0	292	2778	1.10	2.53	148.32	0.957	4	0.080	0.047	3309	1105	2364	0	0	0	0	0	0
2882	0.76	146.0	364.1	11.3	315	2887	0.00	2.55	0.00	0.000	6	0.000	0.048	3308	2504	2355	0	0	0	0	0	0
3080	0.76	146.0	340.8	11.2	333	3084	0.00	2.40	0.00	0.000	4	0.000	0.047	3315	1106	2351	0	0	0	0	0	0
3231	0.76	146.0	323.1	11.3	346	3238	0.00	2.38	0.00	0.000	6	0.000	0.050	3315	2526	2349	0	0	0	0	0	0
3431	0.76	146.0	299.6	11.8	365	3435	0.00	1.98	0.00	0.000	4	0.000	0.056	3316	3766	2348	0	0	0	0	0	0
3536	0.76	146.0	284.6	13.5	374	3544	0.00	1.95	0.00	0.000	6	0.000	0.037	3324	2534	2347	0	0	0	0	0	0
3735	0.76	146.0	261.1	11.5	393	3738	0.00	1.98	0.00	0.000	4	0.000	0.056	3323	3765	2346	0	0	0	0	0	0
3784	0.76	146.0	254.4	13.4	397	3792	0.00	1.95	0.00	0.000	6	0.000	0.038	3333	2535	2345	0	0	0	0	0	0
3984	0.76	146.0	230.0	12.4	416	3988	0.00	2.00	0.00	0.000	4	0.000	0.056	3333	3776	2345	0	0	0	0	0	0
4020	0.76	146.0	225.0	14.3	419	4025	0.12	1.92	0.00	0.000	6	0.161	0.039	3310	2541	2345	0	0	0	0	0	0
4158	0.76	146.0	209.6	10.9	431	4165	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2538	2344	0	0	0	0	0	0
4293	0.76	146.0	194.6	11.1	444	4296	0.00	1.98	0.00	0.000	4	0.000	0.057	3310	3765	2344	0	0	0	0	0	0
4330	0.76	146.0	189.6	12.4	447	4339	0.00	1.92	0.00	0.000	6	0.000	0.037	3317	2549	2344	0	0	0	0	0	0
4467	0.76	146.0	174.0	11.9	460	4471	0.00	1.98	0.00	0.000	4	0.000	0.057	3318	3769	2344	0	0	0	0	0	0
4513	0.76	146.0	167.8	13.1	464	4517	0.00	1.88	0.00	0.000	6	0.000	0.038	3327	2556	2344	0	0	0	0	0	0
4654	0.76	146.0	150.8	11.8	477	4656	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2554	2343	0	0	0	0	0	0
4782	0.76	146.0	135.8	11.8	489	4786	0.00	1.95	0.00	0.000	4	0.000	0.056	3327	3766	2343	0	0	0	0	0	0
4840	0.76	146.0	128.0	13.7	494	4844	0.00	1.85	0.00	0.000	6	0.000	0.037	3336	2565	2343	0	0	0	0	0	0
4981	0.76	146.0	109.9	12.6	507	4983	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2563	2343	0	0	0	0	0	0
5110	0.76	146.0	94.0	12.0	523	5117	0.00	1.98	0.00	0.000	4	0.000	0.056	3336	3777	2343	0	0	0	0	0	0
5161	0.76	146.0	86.6	13.7	532	5170	0.10	1.90	0.00	0.000	6	0.131	0.039	3313	2577	2343	0	0	0	0	0	0
5303	0.76	146.0	71.0	11.2	557	5310	0.00	0.00	0.00	0.000	6	0.000	0.000	3312	2577	2343	0	0	0	0	0	0
5441	0.76	146.0	55.5	11.0	582	5449	0.00	0.00	0.00	0.000	6	0.000	0.000	3312	2577	2342	0	0	0	0	0	0
5582	0.76	146.0	40.0	11.5	607	5588	0.00	1.92	0.00	0.000	4	0.000	0.055	3312	3767	2342	0	0	0	0	0	0
5618	0.76	146.0	35.5	12.8	613	5626	0.00	1.85	0.00	0.000	6	0.000	0.037	3320	2573	2343	0	0	0	0	0	0
5759	0.76	146.0	18.9	10.9	638	5767	0.00	0.00	0.00	0.000	6	0.000	0.000	3320	2573	2342	0	0	0	0	0	0
5902	end climb: SURFACE_DEPTH_REACHED
state	5902	begin surface coast
5932	end surface coast: CONTROL_FINISHED_OK
state	5932	begin surface