Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 595 * 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 595 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 38 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 35 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 -30889.768 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 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 -30889.768

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 38 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 35 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 595 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 110111,091138,-7629.730,17456.432,14,1.9,15,125.2 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 1.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110111,092919,-7629.738,17456.072,18,1.9,35,125.2 MHEAD_RNG_PITCHd_Wd 183.3,128005,-16.0,-9.091

SPEED_LIMITS 0.157,0.251 D_GRID 387

Post-dive calculations and measurements:

FREEZE 1.15,-0.314,-1.292,2,3,0 _24V_AH 20.5,85.188

FINISH 1.2,1.019067 _10V_AH 9.6,59.034

SM_CCo 6639,257.30,0.101,0,0,419,623.30 FG_AHR_24Vo 0.000

SM_GC 1.86,0.00,0.00,257.30,0.000,0.000,0.101,403,2668,419,-8.30,0.51,623.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17456.65,110111,090916 MEM 258096

TT8_MAMPS 0.026964 DATA_FILE_SIZE 50441,733

HUMID 51.49 CAP_FILE_SIZE 113655,0

INTERNAL_PRESSURE 8.69174 CFSIZE 260165632,220311552

TCM_TEMP 14.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 3 CURRENT 0.142,191.1,1

ALTIM_TOP_PING 19.4,18.8 GPS 110111,112601,-7629.746,17452.828,35,1.4,36,125.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 195 75.98 SBE_CT 513 24 252.64

Roll_motor 86 116 206.73 AA4330 941 33 636.88

VBD_pump_during_apogee 282 1054 6109.93 WL_BBFL2VMT 1015 105 2185.15

VBD_pump_during_surface 257 100 532.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 85 103 180.16 nil 0 0 0.00

Iridium_during_connect 157 160 516.66 nil 0 0 0.00

Iridium_during_xfer 435 223 1992.13 nil 0 0 0.00

Transponder_ping 1 420 15.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 50 17.51

TT8 1856 19 352.96

LPSleep 2525 2 53.09

TT8_Active 722 19 137.42

TT8_Sampling 2520 39 962.92

TT8_CF8 338 45 148.93

TT8_Kalman 0 0 0.00

Analog_circuits 1499 12 172.78

GPS_charging 0 0 0.00

Compass 1238 15 178.38

RAFOS 0 0 0.00

Transponder 7 30 2.24

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.71 -146.0 0.0 0.0 0 155 0.00 0.00 -137.05 0.000 2 0.000 0.000 356 2681 3179 0 0 0 0 0 0

160 -0.71 -146.0 3.1 -1.8 20 190 9.27 2.38 -11.32 0.000 4 0.196 0.060 2825 1247 3561 0 0 0 0 0 0

327 -0.71 -146.0 26.1 -14.1 48 336 0.00 2.35 0.00 0.000 6 0.000 0.055 2816 2641 3564 0 0 0 0 0 0

473 -0.71 -146.0 49.8 -16.5 73 480 0.00 1.85 0.00 0.000 4 0.000 0.058 2808 3757 3564 0 0 0 0 0 0

505 -0.71 -146.0 55.2 -16.5 78 513 0.00 1.77 0.00 0.000 6 0.000 0.039 2808 2651 3564 0 0 0 0 0 0

648 -0.71 -146.0 78.4 -16.3 103 654 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2650 3564 0 0 0 0 0 0

788 -0.71 -146.0 100.8 -15.8 128 792 0.00 1.90 0.00 0.000 4 0.000 0.060 2799 3760 3564 0 0 0 0 0 0

824 -0.71 -146.0 106.8 -17.2 131 828 0.12 1.73 0.00 0.000 6 0.157 0.038 2833 2655 3564 0 0 0 0 0 0

965 -0.71 -146.0 126.5 -13.7 144 967 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2653 3565 0 0 0 0 0 0

1093 -0.71 -146.0 143.6 -13.4 156 1097 0.00 1.85 0.00 0.000 4 0.000 0.059 2826 3771 3565 0 0 0 0 0 0

1142 -0.71 -146.0 151.1 -14.4 160 1151 0.00 1.77 0.00 0.000 6 0.000 0.039 2825 2671 3565 0 0 0 0 0 0

1280 -0.71 -146.0 169.6 -14.2 173 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2671 3565 0 0 0 0 0 0

1416 -0.71 -146.0 188.6 -13.7 186 1420 0.00 1.80 0.00 0.000 4 0.000 0.058 2817 3763 3565 0 0 0 0 0 0

1465 -0.71 -146.0 196.5 -14.7 190 1473 0.00 1.75 0.00 0.000 6 0.000 0.038 2817 2675 3564 0 0 0 0 0 0

1602 -0.71 -146.0 215.6 -14.6 203 1610 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 2674 3564 0 0 0 0 0 0

1738 -0.71 -146.0 235.4 -14.4 216 1742 0.00 1.83 0.00 0.000 4 0.000 0.059 2808 3770 3565 0 0 0 0 0 0

1776 -0.71 -146.0 241.6 -14.9 219 1784 0.00 1.77 0.00 0.000 6 0.000 0.039 2808 2673 3565 0 0 0 0 0 0

1910 -0.71 -146.0 261.3 -15.3 232 1914 0.00 1.83 0.00 0.000 4 0.000 0.058 2800 3771 3565 0 0 0 0 0 0

1938 -0.71 -146.0 265.7 -16.4 234 1946 0.12 1.75 0.00 0.000 6 0.154 0.039 2833 2687 3564 0 0 0 0 0 0

2138 -0.71 -146.0 292.0 -13.5 253 2139 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2685 3565 0 0 0 0 0 0

2327 -0.71 -146.0 317.0 -13.1 271 2331 0.00 1.80 0.00 0.000 4 0.000 0.059 2827 3767 3565 0 0 0 0 0 0

2378 -0.71 -146.0 324.1 -14.2 275 2384 0.00 1.70 0.00 0.000 6 0.000 0.040 2827 2685 3565 0 0 0 0 0 0

2578 -0.71 -146.0 350.0 -13.1 294 2581 0.00 1.80 0.00 0.000 4 0.000 0.060 2818 3764 3565 0 0 0 0 0 0

2627 -0.71 -146.0 357.4 -14.2 298 2634 0.00 1.70 0.00 0.000 6 0.000 0.038 2818 2704 3565 0 0 0 0 0 0

2828 -0.71 -146.0 383.5 -13.1 317 2834 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2704 3565 0 0 0 0 0 0

2854 end dive: TARGET_DEPTH_EXCEEDED

state 2854 begin apogee

2860 -0.27 0.0 387.6 13.2 320 2998 0.47 0.00 131.15 1.055 4 0.120 0.000 2970 2490 2961 0 0 0 0 0 0

2999 end apogee: CONTROL_FINISHED_OK

state 2999 begin climb

3001 0.71 146.0 394.1 0.0 332 3171 1.08 2.58 151.38 1.005 4 0.080 0.047 3294 1109 2363 0 0 0 0 1 0

3268 0.71 146.0 374.4 9.6 355 3275 0.00 2.58 0.00 0.000 6 0.000 0.049 3293 2504 2355 0 0 0 0 0 0

3466 0.71 146.0 353.5 10.4 374 3470 0.00 2.45 0.00 0.000 4 0.000 0.047 3303 1109 2351 0 0 0 0 0 0

3597 0.71 146.0 339.9 10.5 385 3601 0.00 2.45 0.00 0.000 6 0.000 0.050 3303 2518 2349 0 0 0 0 0 0

3797 0.71 146.0 318.4 10.4 403 3800 0.00 2.10 0.00 0.000 4 0.000 0.055 3302 3772 2348 0 0 0 0 0 0

3931 0.71 146.0 300.7 13.6 414 3937 0.00 2.00 0.00 0.000 6 0.000 0.039 3312 2527 2346 0 0 0 0 0 0

4129 0.71 146.0 278.0 11.4 433 4133 0.00 2.05 0.00 0.000 4 0.000 0.056 3312 3767 2346 0 0 0 0 0 0

4208 0.71 146.0 267.6 13.6 440 4212 0.00 1.98 0.00 0.000 6 0.000 0.037 3321 2542 2345 0 0 0 0 0 0

4413 0.71 146.0 243.1 11.4 459 4416 0.00 2.03 0.00 0.000 4 0.000 0.055 3321 3775 2345 0 0 0 0 0 0

4470 0.71 146.0 235.4 13.7 464 4475 0.12 1.95 0.00 0.000 6 0.158 0.038 3299 2539 2345 0 0 0 0 0 0

4606 0.71 146.0 221.0 10.0 476 4610 0.00 2.03 0.00 0.000 4 0.000 0.056 3299 3771 2344 0 0 0 0 0 0

4633 0.71 146.0 217.8 11.5 478 4641 0.00 1.95 0.00 0.000 6 0.000 0.039 3306 2559 2344 0 0 0 0 0 0

4769 0.71 146.0 203.4 10.6 491 4773 0.00 2.00 0.00 0.000 4 0.000 0.057 3307 3773 2344 0 0 0 0 0 0

4805 0.71 146.0 199.0 12.8 494 4809 0.00 1.90 0.00 0.000 6 0.000 0.038 3316 2562 2343 0 0 0 0 0 0

4946 0.71 146.0 183.0 11.0 507 4950 0.00 2.00 0.00 0.000 4 0.000 0.057 3315 3774 2343 0 0 0 0 0 0

4995 0.71 146.0 176.5 13.0 511 5003 0.00 1.92 0.00 0.000 6 0.000 0.038 3324 2573 2343 0 0 0 0 0 0

5131 0.71 146.0 160.8 11.8 524 5133 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2572 2343 0 0 0 0 0 0

5258 0.71 146.0 146.0 11.9 536 5261 0.00 1.98 0.00 0.000 4 0.000 0.057 3324 3774 2343 0 0 0 0 0 0

5316 0.71 146.0 138.4 14.1 541 5320 0.15 1.88 0.00 0.000 6 0.148 0.038 3293 2580 2342 0 0 0 0 0 0

5457 0.71 146.0 123.8 9.9 554 5458 0.00 0.00 0.00 0.000 6 0.000 0.000 3293 2577 2342 0 0 0 0 0 0

5583 0.71 146.0 111.7 9.6 566 5587 0.00 1.95 0.00 0.000 4 0.000 0.056 3293 3766 2342 0 0 0 0 0 0

5632 0.71 146.0 106.1 11.2 570 5640 0.00 1.88 0.00 0.000 6 0.000 0.037 3300 2597 2342 0 0 0 0 0 0

5772 0.71 146.0 92.5 9.6 589 5779 0.00 1.95 0.00 0.000 4 0.000 0.056 3300 3777 2342 0 0 0 0 0 0

5810 0.71 146.0 88.3 11.2 595 5816 0.00 1.85 0.00 0.000 6 0.000 0.038 3308 2604 2342 0 0 0 0 0 0

5954 0.71 146.0 73.3 10.1 620 5963 0.00 0.00 0.00 0.000 6 0.000 0.000 3308 2603 2341 0 0 0 0 0 0

6099 0.71 146.0 58.7 10.3 645 6106 0.00 1.95 0.00 0.000 4 0.000 0.056 3308 3774 2341 0 0 0 0 0 0

6159 0.71 146.0 51.5 12.5 655 6166 0.00 1.88 0.00 0.000 6 0.000 0.039 3317 2611 2341 0 0 0 0 0 0

6304 0.71 146.0 36.4 10.3 680 6312 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2610 2341 0 0 0 0 0 0

6448 0.71 146.0 20.2 11.4 705 6455 0.00 1.92 0.00 0.000 4 0.000 0.055 3317 3773 2341 0 0 0 0 0 0

6513 0.71 146.0 11.5 13.8 716 6523 0.08 1.85 0.00 0.000 6 0.140 0.038 3302 2622 2340 0 0 0 0 0 0

6588 end climb: SURFACE_DEPTH_REACHED

state 6588 begin surface coast

6621 end surface coast: CONTROL_FINISHED_OK

state 6621 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	595	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	38	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	35	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	-30889.768	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	110111,091138,-7629.730,17456.432,14,1.9,15,125.2	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	1.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110111,092919,-7629.738,17456.072,18,1.9,35,125.2	MHEAD_RNG_PITCHd_Wd	183.3,128005,-16.0,-9.091
SPEED_LIMITS	0.157,0.251	D_GRID	387

FREEZE	1.15,-0.314,-1.292,2,3,0	_24V_AH	20.5,85.188
FINISH	1.2,1.019067	_10V_AH	9.6,59.034
SM_CCo	6639,257.30,0.101,0,0,419,623.30	FG_AHR_24Vo	0.000
SM_GC	1.86,0.00,0.00,257.30,0.000,0.000,0.101,403,2668,419,-8.30,0.51,623.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17456.65,110111,090916	MEM	258096
TT8_MAMPS	0.026964	DATA_FILE_SIZE	50441,733
HUMID	51.49	CAP_FILE_SIZE	113655,0
INTERNAL_PRESSURE	8.69174	CFSIZE	260165632,220311552
TCM_TEMP	14.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	3	CURRENT	0.142,191.1,1
ALTIM_TOP_PING	19.4,18.8	GPS	110111,112601,-7629.746,17452.828,35,1.4,36,125.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	195	75.98	SBE_CT	513	24	252.64
Roll_motor	86	116	206.73	AA4330	941	33	636.88
VBD_pump_during_apogee	282	1054	6109.93	WL_BBFL2VMT	1015	105	2185.15
VBD_pump_during_surface	257	100	532.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	85	103	180.16	nil	0	0	0.00
Iridium_during_connect	157	160	516.66	nil	0	0	0.00
Iridium_during_xfer	435	223	1992.13	nil	0	0	0.00
Transponder_ping	1	420	15.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	50	17.51
TT8	1856	19	352.96
LPSleep	2525	2	53.09
TT8_Active	722	19	137.42
TT8_Sampling	2520	39	962.92
TT8_CF8	338	45	148.93
TT8_Kalman	0	0	0.00
Analog_circuits	1499	12	172.78
GPS_charging	0	0	0.00
Compass	1238	15	178.38
RAFOS	0	0	0.00
Transponder	7	30	2.24

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.71	-146.0	0.0	0.0	0	155	0.00	0.00	-137.05	0.000	2	0.000	0.000	356	2681	3179	0	0	0	0	0	0
160	-0.71	-146.0	3.1	-1.8	20	190	9.27	2.38	-11.32	0.000	4	0.196	0.060	2825	1247	3561	0	0	0	0	0	0
327	-0.71	-146.0	26.1	-14.1	48	336	0.00	2.35	0.00	0.000	6	0.000	0.055	2816	2641	3564	0	0	0	0	0	0
473	-0.71	-146.0	49.8	-16.5	73	480	0.00	1.85	0.00	0.000	4	0.000	0.058	2808	3757	3564	0	0	0	0	0	0
505	-0.71	-146.0	55.2	-16.5	78	513	0.00	1.77	0.00	0.000	6	0.000	0.039	2808	2651	3564	0	0	0	0	0	0
648	-0.71	-146.0	78.4	-16.3	103	654	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2650	3564	0	0	0	0	0	0
788	-0.71	-146.0	100.8	-15.8	128	792	0.00	1.90	0.00	0.000	4	0.000	0.060	2799	3760	3564	0	0	0	0	0	0
824	-0.71	-146.0	106.8	-17.2	131	828	0.12	1.73	0.00	0.000	6	0.157	0.038	2833	2655	3564	0	0	0	0	0	0
965	-0.71	-146.0	126.5	-13.7	144	967	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2653	3565	0	0	0	0	0	0
1093	-0.71	-146.0	143.6	-13.4	156	1097	0.00	1.85	0.00	0.000	4	0.000	0.059	2826	3771	3565	0	0	0	0	0	0
1142	-0.71	-146.0	151.1	-14.4	160	1151	0.00	1.77	0.00	0.000	6	0.000	0.039	2825	2671	3565	0	0	0	0	0	0
1280	-0.71	-146.0	169.6	-14.2	173	1287	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2671	3565	0	0	0	0	0	0
1416	-0.71	-146.0	188.6	-13.7	186	1420	0.00	1.80	0.00	0.000	4	0.000	0.058	2817	3763	3565	0	0	0	0	0	0
1465	-0.71	-146.0	196.5	-14.7	190	1473	0.00	1.75	0.00	0.000	6	0.000	0.038	2817	2675	3564	0	0	0	0	0	0
1602	-0.71	-146.0	215.6	-14.6	203	1610	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	2674	3564	0	0	0	0	0	0
1738	-0.71	-146.0	235.4	-14.4	216	1742	0.00	1.83	0.00	0.000	4	0.000	0.059	2808	3770	3565	0	0	0	0	0	0
1776	-0.71	-146.0	241.6	-14.9	219	1784	0.00	1.77	0.00	0.000	6	0.000	0.039	2808	2673	3565	0	0	0	0	0	0
1910	-0.71	-146.0	261.3	-15.3	232	1914	0.00	1.83	0.00	0.000	4	0.000	0.058	2800	3771	3565	0	0	0	0	0	0
1938	-0.71	-146.0	265.7	-16.4	234	1946	0.12	1.75	0.00	0.000	6	0.154	0.039	2833	2687	3564	0	0	0	0	0	0
2138	-0.71	-146.0	292.0	-13.5	253	2139	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2685	3565	0	0	0	0	0	0
2327	-0.71	-146.0	317.0	-13.1	271	2331	0.00	1.80	0.00	0.000	4	0.000	0.059	2827	3767	3565	0	0	0	0	0	0
2378	-0.71	-146.0	324.1	-14.2	275	2384	0.00	1.70	0.00	0.000	6	0.000	0.040	2827	2685	3565	0	0	0	0	0	0
2578	-0.71	-146.0	350.0	-13.1	294	2581	0.00	1.80	0.00	0.000	4	0.000	0.060	2818	3764	3565	0	0	0	0	0	0
2627	-0.71	-146.0	357.4	-14.2	298	2634	0.00	1.70	0.00	0.000	6	0.000	0.038	2818	2704	3565	0	0	0	0	0	0
2828	-0.71	-146.0	383.5	-13.1	317	2834	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2704	3565	0	0	0	0	0	0
2854	end dive: TARGET_DEPTH_EXCEEDED
state	2854	begin apogee
2860	-0.27	0.0	387.6	13.2	320	2998	0.47	0.00	131.15	1.055	4	0.120	0.000	2970	2490	2961	0	0	0	0	0	0
2999	end apogee: CONTROL_FINISHED_OK
state	2999	begin climb
3001	0.71	146.0	394.1	0.0	332	3171	1.08	2.58	151.38	1.005	4	0.080	0.047	3294	1109	2363	0	0	0	0	1	0
3268	0.71	146.0	374.4	9.6	355	3275	0.00	2.58	0.00	0.000	6	0.000	0.049	3293	2504	2355	0	0	0	0	0	0
3466	0.71	146.0	353.5	10.4	374	3470	0.00	2.45	0.00	0.000	4	0.000	0.047	3303	1109	2351	0	0	0	0	0	0
3597	0.71	146.0	339.9	10.5	385	3601	0.00	2.45	0.00	0.000	6	0.000	0.050	3303	2518	2349	0	0	0	0	0	0
3797	0.71	146.0	318.4	10.4	403	3800	0.00	2.10	0.00	0.000	4	0.000	0.055	3302	3772	2348	0	0	0	0	0	0
3931	0.71	146.0	300.7	13.6	414	3937	0.00	2.00	0.00	0.000	6	0.000	0.039	3312	2527	2346	0	0	0	0	0	0
4129	0.71	146.0	278.0	11.4	433	4133	0.00	2.05	0.00	0.000	4	0.000	0.056	3312	3767	2346	0	0	0	0	0	0
4208	0.71	146.0	267.6	13.6	440	4212	0.00	1.98	0.00	0.000	6	0.000	0.037	3321	2542	2345	0	0	0	0	0	0
4413	0.71	146.0	243.1	11.4	459	4416	0.00	2.03	0.00	0.000	4	0.000	0.055	3321	3775	2345	0	0	0	0	0	0
4470	0.71	146.0	235.4	13.7	464	4475	0.12	1.95	0.00	0.000	6	0.158	0.038	3299	2539	2345	0	0	0	0	0	0
4606	0.71	146.0	221.0	10.0	476	4610	0.00	2.03	0.00	0.000	4	0.000	0.056	3299	3771	2344	0	0	0	0	0	0
4633	0.71	146.0	217.8	11.5	478	4641	0.00	1.95	0.00	0.000	6	0.000	0.039	3306	2559	2344	0	0	0	0	0	0
4769	0.71	146.0	203.4	10.6	491	4773	0.00	2.00	0.00	0.000	4	0.000	0.057	3307	3773	2344	0	0	0	0	0	0
4805	0.71	146.0	199.0	12.8	494	4809	0.00	1.90	0.00	0.000	6	0.000	0.038	3316	2562	2343	0	0	0	0	0	0
4946	0.71	146.0	183.0	11.0	507	4950	0.00	2.00	0.00	0.000	4	0.000	0.057	3315	3774	2343	0	0	0	0	0	0
4995	0.71	146.0	176.5	13.0	511	5003	0.00	1.92	0.00	0.000	6	0.000	0.038	3324	2573	2343	0	0	0	0	0	0
5131	0.71	146.0	160.8	11.8	524	5133	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2572	2343	0	0	0	0	0	0
5258	0.71	146.0	146.0	11.9	536	5261	0.00	1.98	0.00	0.000	4	0.000	0.057	3324	3774	2343	0	0	0	0	0	0
5316	0.71	146.0	138.4	14.1	541	5320	0.15	1.88	0.00	0.000	6	0.148	0.038	3293	2580	2342	0	0	0	0	0	0
5457	0.71	146.0	123.8	9.9	554	5458	0.00	0.00	0.00	0.000	6	0.000	0.000	3293	2577	2342	0	0	0	0	0	0
5583	0.71	146.0	111.7	9.6	566	5587	0.00	1.95	0.00	0.000	4	0.000	0.056	3293	3766	2342	0	0	0	0	0	0
5632	0.71	146.0	106.1	11.2	570	5640	0.00	1.88	0.00	0.000	6	0.000	0.037	3300	2597	2342	0	0	0	0	0	0
5772	0.71	146.0	92.5	9.6	589	5779	0.00	1.95	0.00	0.000	4	0.000	0.056	3300	3777	2342	0	0	0	0	0	0
5810	0.71	146.0	88.3	11.2	595	5816	0.00	1.85	0.00	0.000	6	0.000	0.038	3308	2604	2342	0	0	0	0	0	0
5954	0.71	146.0	73.3	10.1	620	5963	0.00	0.00	0.00	0.000	6	0.000	0.000	3308	2603	2341	0	0	0	0	0	0
6099	0.71	146.0	58.7	10.3	645	6106	0.00	1.95	0.00	0.000	4	0.000	0.056	3308	3774	2341	0	0	0	0	0	0
6159	0.71	146.0	51.5	12.5	655	6166	0.00	1.88	0.00	0.000	6	0.000	0.039	3317	2611	2341	0	0	0	0	0	0
6304	0.71	146.0	36.4	10.3	680	6312	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2610	2341	0	0	0	0	0	0
6448	0.71	146.0	20.2	11.4	705	6455	0.00	1.92	0.00	0.000	4	0.000	0.055	3317	3773	2341	0	0	0	0	0	0
6513	0.71	146.0	11.5	13.8	716	6523	0.08	1.85	0.00	0.000	6	0.140	0.038	3302	2622	2340	0	0	0	0	0	0
6588	end climb: SURFACE_DEPTH_REACHED
state	6588	begin surface coast
6621	end surface coast: CONTROL_FINISHED_OK
state	6621	begin surface