Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 593 * 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 593 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 250 R_PORT_OVSHOOT 39 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 30 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 275 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 -30887.25 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 250

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 275

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 -30887.25

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 39 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 30 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 593 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 110111,050506,-7629.499,17503.301,38,0.8,38,125.0 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 -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110111,051419,-7629.521,17503.178,11,0.9,16,125.0 MHEAD_RNG_PITCHd_Wd 181.0,131079,-16.0,-9.091

SPEED_LIMITS 0.157,0.251 D_GRID 388

Post-dive calculations and measurements:

FREEZE 1.14,-0.161,-1.734,2,1,0 _24V_AH 20.5,84.961

FINISH 1.1,1.025435 _10V_AH 9.6,58.837

SM_CCo 6601,52.28,0.719,1,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 2.36,0.00,0.00,52.28,0.000,0.000,0.719,405,2652,1940,-8.31,0.06,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17455.84,110111,030324 MEM 258172

TT8_MAMPS 0.028462 DATA_FILE_SIZE 50528,728

HUMID 55.27 CAP_FILE_SIZE 103841,0

INTERNAL_PRESSURE 8.8187 CFSIZE 260165632,220454912

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

XPDR_PINGS 3 CURRENT 0.163,192.3,1

ALTIM_TOP_PING 19.6,19.2 GPS 110111,070658,-7629.623,17459.686,13,4.1,32,125.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 195 76.68 SBE_CT 510 24 251.01

Roll_motor 87 58 105.51 AA4330 934 33 632.04

VBD_pump_during_apogee 278 1051 6002.67 WL_BBFL2VMT 1004 105 2162.39

VBD_pump_during_surface 52 719 770.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 49.50 nil 0 0 0.00

Iridium_during_connect 36 160 120.26 nil 0 0 0.00

Iridium_during_xfer 330 223 1508.63 nil 0 0 0.00

Transponder_ping 2 420 17.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.08

TT8 1839 19 349.65

LPSleep 2425 2 50.99

TT8_Active 515 19 98.07

TT8_Sampling 2148 39 820.90

TT8_CF8 288 45 126.90

TT8_Kalman 0 0 0.00

Analog_circuits 1282 12 147.78

GPS_charging 0 0 0.00

Compass 1216 15 175.24

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

16 -0.71 -146.0 0.0 0.0 0 144 0.00 0.00 -125.70 0.000 2 0.000 0.000 395 2669 2939 0 0 0 0 0 0

148 -0.71 -146.0 3.1 -2.9 18 186 9.52 2.45 -23.05 0.000 4 0.195 0.059 2827 1250 3559 0 0 0 0 0 0

371 -0.71 -146.0 31.1 -13.5 56 379 0.00 2.35 0.00 0.000 6 0.000 0.054 2819 2638 3562 0 0 0 0 0 0

517 -0.71 -146.0 52.5 -15.7 81 524 0.00 1.88 0.00 0.000 4 0.000 0.058 2810 3763 3563 0 0 0 0 0 0

548 -0.71 -146.0 58.1 -16.6 86 556 0.00 1.77 0.00 0.000 6 0.000 0.039 2810 2661 3563 0 0 0 0 0 0

694 -0.71 -146.0 81.8 -15.9 111 700 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2659 3563 0 0 0 0 0 0

839 -0.71 -146.0 105.6 -16.6 134 843 0.00 1.88 0.00 0.000 4 0.000 0.058 2801 3767 3563 0 0 0 0 0 0

866 -0.71 -146.0 110.7 -17.3 136 876 0.08 1.77 0.00 0.000 6 0.137 0.039 2827 2659 3563 0 0 0 0 0 0

1004 -0.71 -146.0 130.7 -14.9 149 1011 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2659 3563 0 0 0 0 0 0

1139 -0.71 -146.0 150.7 -14.8 162 1143 0.00 1.83 0.00 0.000 4 0.000 0.059 2820 3767 3563 0 0 0 0 0 0

1166 -0.71 -146.0 155.0 -14.9 164 1175 0.00 1.77 0.00 0.000 6 0.000 0.040 2820 2662 3563 0 0 0 0 0 0

1304 -0.71 -146.0 174.7 -14.7 177 1311 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 2661 3563 0 0 0 0 0 0

1439 -0.71 -146.0 194.8 -14.3 190 1443 0.00 1.83 0.00 0.000 4 0.000 0.059 2811 3765 3563 0 0 0 0 0 0

1486 -0.71 -146.0 201.8 -15.3 194 1490 0.00 1.73 0.00 0.000 6 0.000 0.039 2811 2669 3563 0 0 0 0 0 0

1630 -0.71 -146.0 222.8 -15.1 207 1637 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2666 3563 0 0 0 0 0 0

1765 -0.71 -146.0 242.9 -14.6 220 1769 0.00 1.83 0.00 0.000 4 0.000 0.059 2803 3769 3563 0 0 0 0 0 0

1802 -0.71 -146.0 249.3 -15.4 223 1812 0.08 1.77 0.00 0.000 6 0.135 0.040 2828 2665 3563 0 0 0 0 0 0

1938 -0.71 -146.0 267.0 -12.9 236 1939 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 2664 3563 0 0 0 0 0 0

2130 -0.71 -146.0 291.7 -12.8 254 2133 0.00 1.83 0.00 0.000 4 0.000 0.059 2821 3770 3563 0 0 0 0 0 0

2175 -0.71 -146.0 298.1 -14.2 258 2178 0.00 1.73 0.00 0.000 6 0.000 0.040 2821 2674 3563 0 0 0 0 0 0

2381 -0.71 -146.0 325.6 -13.6 277 2385 0.00 1.80 0.00 0.000 4 0.000 0.059 2812 3763 3563 0 0 0 0 0 0

2419 -0.71 -146.0 331.7 -14.5 280 2427 0.00 1.73 0.00 0.000 6 0.000 0.039 2812 2686 3563 0 0 0 0 0 0

2618 -0.71 -146.0 359.2 -14.1 299 2619 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2685 3563 0 0 0 0 0 0

2809 -0.71 -146.0 385.7 -13.5 317 2812 0.00 1.77 0.00 0.000 4 0.000 0.059 2804 3763 3563 0 0 0 0 0 0

2822 end dive: TARGET_DEPTH_EXCEEDED

state 2823 begin apogee

2830 -0.27 0.0 388.4 14.1 318 2968 0.52 0.00 130.80 1.051 4 0.125 0.000 2970 2496 2960 0 0 0 0 0 0

2969 end apogee: CONTROL_FINISHED_OK

state 2969 begin climb

2971 0.71 146.0 395.4 0.0 330 3127 1.05 2.60 147.77 0.978 4 0.080 0.047 3288 1095 2365 0 0 0 0 0 0

3224 0.71 146.0 376.8 9.5 352 3232 0.00 2.60 0.00 0.000 6 0.000 0.049 3288 2500 2354 0 0 0 0 0 0

3422 0.71 146.0 356.3 10.3 371 3427 0.00 2.45 0.00 0.000 4 0.000 0.047 3297 1095 2350 0 0 0 0 0 0

3544 0.71 146.0 343.2 11.3 381 3551 0.00 2.47 0.00 0.000 6 0.000 0.049 3297 2522 2348 0 0 0 0 0 0

3744 0.71 146.0 322.1 10.7 400 3748 0.00 2.08 0.00 0.000 4 0.000 0.054 3297 3771 2346 0 0 0 0 0 0

3864 0.71 146.0 307.2 12.5 410 3868 0.00 1.98 0.00 0.000 6 0.000 0.039 3306 2532 2346 0 0 0 0 0 0

4068 0.71 146.0 284.1 11.3 429 4072 0.00 2.03 0.00 0.000 4 0.000 0.056 3307 3767 2345 0 0 0 0 0 0

4137 0.71 146.0 275.2 13.4 435 4140 0.00 1.90 0.00 0.000 6 0.000 0.037 3316 2553 2344 0 0 0 0 0 0

4342 0.71 146.0 250.8 11.3 454 4345 0.00 2.00 0.00 0.000 4 0.000 0.057 3316 3774 2344 0 0 0 0 0 0

4412 0.71 146.0 241.6 14.0 460 4415 0.00 1.90 0.00 0.000 6 0.000 0.039 3325 2560 2343 0 0 0 0 0 0

4555 0.71 146.0 224.3 11.4 473 4558 0.00 1.98 0.00 0.000 4 0.000 0.056 3325 3766 2343 0 0 0 0 0 0

4612 0.71 146.0 216.4 13.5 478 4616 0.15 1.88 0.00 0.000 6 0.152 0.037 3294 2565 2343 0 0 0 0 0 0

4755 0.71 146.0 201.8 9.5 491 4763 0.00 0.00 0.00 0.000 6 0.000 0.000 3294 2563 2343 0 0 0 0 0 0

4891 0.71 146.0 188.5 9.6 504 4894 0.00 1.98 0.00 0.000 4 0.000 0.057 3294 3767 2343 0 0 0 0 0 0

4937 0.71 146.0 183.4 11.8 508 4941 0.00 1.85 0.00 0.000 6 0.000 0.037 3300 2584 2342 0 0 0 0 0 0

5081 0.71 146.0 168.4 10.2 521 5089 0.00 0.00 0.00 0.000 6 0.000 0.000 3300 2581 2342 0 0 0 0 0 0

5217 0.71 146.0 154.0 10.3 534 5220 0.00 1.95 0.00 0.000 4 0.000 0.057 3300 3767 2342 0 0 0 0 0 0

5263 0.71 146.0 148.6 11.9 538 5266 0.00 1.85 0.00 0.000 6 0.000 0.038 3309 2588 2342 0 0 0 0 0 0

5406 0.71 146.0 133.1 10.7 551 5413 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2586 2342 0 0 0 0 0 0

5541 0.71 146.0 118.5 10.7 564 5545 0.00 1.95 0.00 0.000 4 0.000 0.057 3308 3772 2342 0 0 0 0 0 0

5590 0.71 146.0 112.2 12.6 568 5600 0.00 1.90 0.00 0.000 6 0.000 0.039 3318 2592 2342 0 0 0 0 0 0

5728 0.71 146.0 96.7 11.4 583 5734 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2591 2341 0 0 0 0 0 0

5869 0.71 146.0 80.5 11.3 608 5878 0.00 1.98 0.00 0.000 4 0.000 0.057 3318 3765 2341 0 0 0 0 0 0

5907 0.71 146.0 75.4 13.5 614 5916 0.08 1.88 0.00 0.000 6 0.138 0.037 3302 2595 2341 0 0 0 0 0 0

6053 0.71 146.0 60.3 9.5 639 6059 0.00 0.00 0.00 0.000 6 0.000 0.000 3302 2594 2341 0 0 0 0 0 0

6195 0.71 146.0 45.8 10.6 664 6204 0.00 1.95 0.00 0.000 4 0.000 0.056 3302 3755 2340 0 0 0 0 0 0

6234 0.71 146.0 41.6 11.5 670 6242 0.00 1.85 0.00 0.000 6 0.000 0.038 3309 2606 2341 0 0 0 0 0 0

6380 0.71 146.0 25.5 10.9 695 6387 0.00 2.45 0.00 0.000 4 0.000 0.049 3315 1089 2340 0 0 0 0 0 0

6408 0.71 146.0 22.2 11.3 699 6415 0.00 2.53 0.00 0.000 6 0.000 0.050 3316 2624 2340 0 0 0 0 0 0

6554 0.71 146.0 3.8 14.2 724 6563 0.00 1.88 0.00 0.000 4 0.000 0.057 3316 3758 2339 0 0 0 0 0 0

6569 end climb: SURFACE_DEPTH_REACHED

state 6569 begin surface coast

6581 end surface coast: CONTROL_FINISHED_OK

state 6582 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	593	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	250	R_PORT_OVSHOOT	39	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	30	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	275	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	-30887.25	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	110111,050506,-7629.499,17503.301,38,0.8,38,125.0	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	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110111,051419,-7629.521,17503.178,11,0.9,16,125.0	MHEAD_RNG_PITCHd_Wd	181.0,131079,-16.0,-9.091
SPEED_LIMITS	0.157,0.251	D_GRID	388

FREEZE	1.14,-0.161,-1.734,2,1,0	_24V_AH	20.5,84.961
FINISH	1.1,1.025435	_10V_AH	9.6,58.837
SM_CCo	6601,52.28,0.719,1,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	2.36,0.00,0.00,52.28,0.000,0.000,0.719,405,2652,1940,-8.31,0.06,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17455.84,110111,030324	MEM	258172
TT8_MAMPS	0.028462	DATA_FILE_SIZE	50528,728
HUMID	55.27	CAP_FILE_SIZE	103841,0
INTERNAL_PRESSURE	8.8187	CFSIZE	260165632,220454912
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	3	CURRENT	0.163,192.3,1
ALTIM_TOP_PING	19.6,19.2	GPS	110111,070658,-7629.623,17459.686,13,4.1,32,125.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	195	76.68	SBE_CT	510	24	251.01
Roll_motor	87	58	105.51	AA4330	934	33	632.04
VBD_pump_during_apogee	278	1051	6002.67	WL_BBFL2VMT	1004	105	2162.39
VBD_pump_during_surface	52	719	770.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	49.50	nil	0	0	0.00
Iridium_during_connect	36	160	120.26	nil	0	0	0.00
Iridium_during_xfer	330	223	1508.63	nil	0	0	0.00
Transponder_ping	2	420	17.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.08
TT8	1839	19	349.65
LPSleep	2425	2	50.99
TT8_Active	515	19	98.07
TT8_Sampling	2148	39	820.90
TT8_CF8	288	45	126.90
TT8_Kalman	0	0	0.00
Analog_circuits	1282	12	147.78
GPS_charging	0	0	0.00
Compass	1216	15	175.24
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
16	-0.71	-146.0	0.0	0.0	0	144	0.00	0.00	-125.70	0.000	2	0.000	0.000	395	2669	2939	0	0	0	0	0	0
148	-0.71	-146.0	3.1	-2.9	18	186	9.52	2.45	-23.05	0.000	4	0.195	0.059	2827	1250	3559	0	0	0	0	0	0
371	-0.71	-146.0	31.1	-13.5	56	379	0.00	2.35	0.00	0.000	6	0.000	0.054	2819	2638	3562	0	0	0	0	0	0
517	-0.71	-146.0	52.5	-15.7	81	524	0.00	1.88	0.00	0.000	4	0.000	0.058	2810	3763	3563	0	0	0	0	0	0
548	-0.71	-146.0	58.1	-16.6	86	556	0.00	1.77	0.00	0.000	6	0.000	0.039	2810	2661	3563	0	0	0	0	0	0
694	-0.71	-146.0	81.8	-15.9	111	700	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2659	3563	0	0	0	0	0	0
839	-0.71	-146.0	105.6	-16.6	134	843	0.00	1.88	0.00	0.000	4	0.000	0.058	2801	3767	3563	0	0	0	0	0	0
866	-0.71	-146.0	110.7	-17.3	136	876	0.08	1.77	0.00	0.000	6	0.137	0.039	2827	2659	3563	0	0	0	0	0	0
1004	-0.71	-146.0	130.7	-14.9	149	1011	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2659	3563	0	0	0	0	0	0
1139	-0.71	-146.0	150.7	-14.8	162	1143	0.00	1.83	0.00	0.000	4	0.000	0.059	2820	3767	3563	0	0	0	0	0	0
1166	-0.71	-146.0	155.0	-14.9	164	1175	0.00	1.77	0.00	0.000	6	0.000	0.040	2820	2662	3563	0	0	0	0	0	0
1304	-0.71	-146.0	174.7	-14.7	177	1311	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	2661	3563	0	0	0	0	0	0
1439	-0.71	-146.0	194.8	-14.3	190	1443	0.00	1.83	0.00	0.000	4	0.000	0.059	2811	3765	3563	0	0	0	0	0	0
1486	-0.71	-146.0	201.8	-15.3	194	1490	0.00	1.73	0.00	0.000	6	0.000	0.039	2811	2669	3563	0	0	0	0	0	0
1630	-0.71	-146.0	222.8	-15.1	207	1637	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2666	3563	0	0	0	0	0	0
1765	-0.71	-146.0	242.9	-14.6	220	1769	0.00	1.83	0.00	0.000	4	0.000	0.059	2803	3769	3563	0	0	0	0	0	0
1802	-0.71	-146.0	249.3	-15.4	223	1812	0.08	1.77	0.00	0.000	6	0.135	0.040	2828	2665	3563	0	0	0	0	0	0
1938	-0.71	-146.0	267.0	-12.9	236	1939	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	2664	3563	0	0	0	0	0	0
2130	-0.71	-146.0	291.7	-12.8	254	2133	0.00	1.83	0.00	0.000	4	0.000	0.059	2821	3770	3563	0	0	0	0	0	0
2175	-0.71	-146.0	298.1	-14.2	258	2178	0.00	1.73	0.00	0.000	6	0.000	0.040	2821	2674	3563	0	0	0	0	0	0
2381	-0.71	-146.0	325.6	-13.6	277	2385	0.00	1.80	0.00	0.000	4	0.000	0.059	2812	3763	3563	0	0	0	0	0	0
2419	-0.71	-146.0	331.7	-14.5	280	2427	0.00	1.73	0.00	0.000	6	0.000	0.039	2812	2686	3563	0	0	0	0	0	0
2618	-0.71	-146.0	359.2	-14.1	299	2619	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2685	3563	0	0	0	0	0	0
2809	-0.71	-146.0	385.7	-13.5	317	2812	0.00	1.77	0.00	0.000	4	0.000	0.059	2804	3763	3563	0	0	0	0	0	0
2822	end dive: TARGET_DEPTH_EXCEEDED
state	2823	begin apogee
2830	-0.27	0.0	388.4	14.1	318	2968	0.52	0.00	130.80	1.051	4	0.125	0.000	2970	2496	2960	0	0	0	0	0	0
2969	end apogee: CONTROL_FINISHED_OK
state	2969	begin climb
2971	0.71	146.0	395.4	0.0	330	3127	1.05	2.60	147.77	0.978	4	0.080	0.047	3288	1095	2365	0	0	0	0	0	0
3224	0.71	146.0	376.8	9.5	352	3232	0.00	2.60	0.00	0.000	6	0.000	0.049	3288	2500	2354	0	0	0	0	0	0
3422	0.71	146.0	356.3	10.3	371	3427	0.00	2.45	0.00	0.000	4	0.000	0.047	3297	1095	2350	0	0	0	0	0	0
3544	0.71	146.0	343.2	11.3	381	3551	0.00	2.47	0.00	0.000	6	0.000	0.049	3297	2522	2348	0	0	0	0	0	0
3744	0.71	146.0	322.1	10.7	400	3748	0.00	2.08	0.00	0.000	4	0.000	0.054	3297	3771	2346	0	0	0	0	0	0
3864	0.71	146.0	307.2	12.5	410	3868	0.00	1.98	0.00	0.000	6	0.000	0.039	3306	2532	2346	0	0	0	0	0	0
4068	0.71	146.0	284.1	11.3	429	4072	0.00	2.03	0.00	0.000	4	0.000	0.056	3307	3767	2345	0	0	0	0	0	0
4137	0.71	146.0	275.2	13.4	435	4140	0.00	1.90	0.00	0.000	6	0.000	0.037	3316	2553	2344	0	0	0	0	0	0
4342	0.71	146.0	250.8	11.3	454	4345	0.00	2.00	0.00	0.000	4	0.000	0.057	3316	3774	2344	0	0	0	0	0	0
4412	0.71	146.0	241.6	14.0	460	4415	0.00	1.90	0.00	0.000	6	0.000	0.039	3325	2560	2343	0	0	0	0	0	0
4555	0.71	146.0	224.3	11.4	473	4558	0.00	1.98	0.00	0.000	4	0.000	0.056	3325	3766	2343	0	0	0	0	0	0
4612	0.71	146.0	216.4	13.5	478	4616	0.15	1.88	0.00	0.000	6	0.152	0.037	3294	2565	2343	0	0	0	0	0	0
4755	0.71	146.0	201.8	9.5	491	4763	0.00	0.00	0.00	0.000	6	0.000	0.000	3294	2563	2343	0	0	0	0	0	0
4891	0.71	146.0	188.5	9.6	504	4894	0.00	1.98	0.00	0.000	4	0.000	0.057	3294	3767	2343	0	0	0	0	0	0
4937	0.71	146.0	183.4	11.8	508	4941	0.00	1.85	0.00	0.000	6	0.000	0.037	3300	2584	2342	0	0	0	0	0	0
5081	0.71	146.0	168.4	10.2	521	5089	0.00	0.00	0.00	0.000	6	0.000	0.000	3300	2581	2342	0	0	0	0	0	0
5217	0.71	146.0	154.0	10.3	534	5220	0.00	1.95	0.00	0.000	4	0.000	0.057	3300	3767	2342	0	0	0	0	0	0
5263	0.71	146.0	148.6	11.9	538	5266	0.00	1.85	0.00	0.000	6	0.000	0.038	3309	2588	2342	0	0	0	0	0	0
5406	0.71	146.0	133.1	10.7	551	5413	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2586	2342	0	0	0	0	0	0
5541	0.71	146.0	118.5	10.7	564	5545	0.00	1.95	0.00	0.000	4	0.000	0.057	3308	3772	2342	0	0	0	0	0	0
5590	0.71	146.0	112.2	12.6	568	5600	0.00	1.90	0.00	0.000	6	0.000	0.039	3318	2592	2342	0	0	0	0	0	0
5728	0.71	146.0	96.7	11.4	583	5734	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2591	2341	0	0	0	0	0	0
5869	0.71	146.0	80.5	11.3	608	5878	0.00	1.98	0.00	0.000	4	0.000	0.057	3318	3765	2341	0	0	0	0	0	0
5907	0.71	146.0	75.4	13.5	614	5916	0.08	1.88	0.00	0.000	6	0.138	0.037	3302	2595	2341	0	0	0	0	0	0
6053	0.71	146.0	60.3	9.5	639	6059	0.00	0.00	0.00	0.000	6	0.000	0.000	3302	2594	2341	0	0	0	0	0	0
6195	0.71	146.0	45.8	10.6	664	6204	0.00	1.95	0.00	0.000	4	0.000	0.056	3302	3755	2340	0	0	0	0	0	0
6234	0.71	146.0	41.6	11.5	670	6242	0.00	1.85	0.00	0.000	6	0.000	0.038	3309	2606	2341	0	0	0	0	0	0
6380	0.71	146.0	25.5	10.9	695	6387	0.00	2.45	0.00	0.000	4	0.000	0.049	3315	1089	2340	0	0	0	0	0	0
6408	0.71	146.0	22.2	11.3	699	6415	0.00	2.53	0.00	0.000	6	0.000	0.050	3316	2624	2340	0	0	0	0	0	0
6554	0.71	146.0	3.8	14.2	724	6563	0.00	1.88	0.00	0.000	4	0.000	0.057	3316	3758	2339	0	0	0	0	0	0
6569	end climb: SURFACE_DEPTH_REACHED
state	6569	begin surface coast
6581	end surface coast: CONTROL_FINISHED_OK
state	6582	begin surface