Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 597 * 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 597 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 36 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 41 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 -30892.285 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 -30892.285

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 36 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 41 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 597 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 110111,132950,-7629.804,17449.197,10,1.4,11,125.4 TGT_NAME POLYNYA1

_CALLS 2 TGT_LATLONG -7630.000,17000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110111,134501,-7629.837,17448.736,38,1.0,38,125.4 MHEAD_RNG_PITCHd_Wd 179.3,124833,-16.0,-9.091

SPEED_LIMITS 0.157,0.251 D_GRID 382

Post-dive calculations and measurements:

FREEZE 1.14,-0.401,-1.888,2,1,0 _24V_AH 20.5,85.466

FINISH 1.1,1.027630 _10V_AH 9.6,59.226

SM_CCo 6562,54.60,0.729,1,0,1941,250.20 FG_AHR_24Vo 0.000

SM_GC 2.21,0.00,0.00,54.60,0.000,0.000,0.729,404,2676,1941,-8.31,0.74,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17445.83,110111,131333 MEM 258168

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50545,737

HUMID 54.80 CAP_FILE_SIZE 107578,0

INTERNAL_PRESSURE 8.8187 CFSIZE 260165632,220205056

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

XPDR_PINGS 3 CURRENT 0.150,206.7,1

ALTIM_TOP_PING 19.8,18.7 GPS 110111,153644,-7629.844,17444.822,14,1.2,14,125.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 203 79.78 SBE_CT 516 24 254.26

Roll_motor 72 99 146.89 AA4330 948 33 641.78

VBD_pump_during_apogee 277 1043 5938.66 WL_BBFL2VMT 1015 105 2184.84

VBD_pump_during_surface 54 729 816.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 115.07 nil 0 0 0.00

Iridium_during_connect 74 160 245.32 nil 0 0 0.00

Iridium_during_xfer 509 223 2328.02 nil 0 0 0.00

Transponder_ping 2 420 17.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 39 50 19.07

TT8 1854 19 352.51

LPSleep 2421 2 50.92

TT8_Active 506 19 96.26

TT8_Sampling 2429 39 928.38

TT8_CF8 325 45 143.09

TT8_Kalman 0 0 0.00

Analog_circuits 1263 12 145.60

GPS_charging 0 0 0.00

Compass 1222 15 176.09

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.71 -146.0 0.0 0.0 0 158 0.00 0.00 -137.73 0.000 2 0.000 0.000 361 2685 3188 0 0 0 0 0 0

163 -0.71 -146.0 3.2 -1.6 20 193 9.65 2.45 -10.77 0.000 4 0.203 0.060 2827 1242 3560 0 0 0 0 0 0

249 -0.71 -146.0 17.1 -14.1 34 257 0.00 2.38 0.00 0.000 6 0.000 0.054 2818 2637 3564 0 0 0 0 0 0

387 -0.71 -146.0 39.6 -16.0 59 394 0.00 1.85 0.00 0.000 4 0.000 0.057 2809 3767 3564 0 0 0 0 0 0

473 -0.71 -146.0 54.3 -15.7 74 481 0.00 1.77 0.00 0.000 6 0.000 0.039 2809 2667 3564 0 0 0 0 0 0

613 -0.71 -146.0 75.5 -15.4 99 619 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2666 3564 0 0 0 0 0 0

748 -0.71 -146.0 96.4 -14.8 124 756 0.00 1.85 0.00 0.000 4 0.000 0.058 2801 3760 3565 0 0 0 0 0 0

800 -0.71 -146.0 105.2 -16.1 130 809 0.08 1.75 0.00 0.000 6 0.139 0.039 2826 2668 3565 0 0 0 0 0 0

938 -0.71 -146.0 123.8 -13.5 143 945 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2667 3565 0 0 0 0 0 0

1073 -0.71 -146.0 142.5 -13.8 156 1077 0.00 1.83 0.00 0.000 4 0.000 0.057 2819 3771 3565 0 0 0 0 0 0

1111 -0.71 -146.0 148.5 -15.0 159 1119 0.00 1.77 0.00 0.000 6 0.000 0.040 2819 2677 3565 0 0 0 0 0 0

1247 -0.71 -146.0 167.9 -14.9 172 1248 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2676 3565 0 0 0 0 0 0

1374 -0.71 -146.0 186.4 -14.7 184 1382 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2676 3565 0 0 0 0 0 0

1511 -0.71 -146.0 206.7 -14.9 197 1514 0.00 1.80 0.00 0.000 4 0.000 0.059 2811 3763 3565 0 0 0 0 0 0

1538 -0.71 -146.0 211.5 -15.9 199 1546 0.00 1.75 0.00 0.000 6 0.000 0.039 2811 2678 3565 0 0 0 0 0 0

1673 -0.71 -146.0 231.9 -15.7 212 1674 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2678 3564 0 0 0 0 0 0

1802 -0.71 -146.0 250.8 -14.8 224 1805 0.00 1.80 0.00 0.000 4 0.000 0.060 2802 3763 3565 0 0 0 0 0 0

1859 -0.71 -146.0 260.2 -15.8 229 1863 0.12 1.70 0.00 0.000 6 0.155 0.039 2836 2679 3565 0 0 0 0 0 0

2064 -0.71 -146.0 285.7 -12.4 248 2070 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 2677 3565 0 0 0 0 0 0

2262 -0.71 -146.0 309.4 -11.8 267 2266 0.00 1.80 0.00 0.000 4 0.000 0.060 2829 3762 3564 0 0 0 0 0 0

2300 -0.71 -146.0 314.4 -13.0 270 2307 0.00 1.73 0.00 0.000 6 0.000 0.039 2829 2692 3565 0 0 0 0 0 0

2500 -0.71 -146.0 339.3 -12.8 289 2507 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2693 3565 0 0 0 0 0 0

2700 -0.71 -146.0 364.8 -12.5 308 2701 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2692 3565 0 0 0 0 0 0

2834 end dive: TARGET_DEPTH_EXCEEDED

state 2834 begin apogee

2841 -0.27 0.0 382.6 12.9 321 2979 0.45 0.00 130.18 1.043 4 0.121 0.000 2974 2494 2961 0 0 0 0 0 0

2979 end apogee: CONTROL_FINISHED_OK

state 2980 begin climb

2982 0.71 146.0 389.7 0.0 333 3142 1.05 2.55 147.45 0.963 4 0.080 0.047 3291 1109 2364 0 0 0 0 0 0

3259 0.71 146.0 369.6 9.8 357 3267 0.00 2.55 0.00 0.000 6 0.000 0.049 3291 2499 2354 0 0 0 0 0 0

3459 0.71 146.0 349.0 10.6 376 3464 0.00 2.45 0.00 0.000 4 0.000 0.047 3301 1098 2350 0 0 0 0 0 0

3589 0.71 146.0 335.2 10.7 387 3593 0.00 2.47 0.00 0.000 6 0.000 0.050 3300 2523 2348 0 0 0 0 0 0

3788 0.71 146.0 313.1 11.3 405 3792 0.00 2.08 0.00 0.000 4 0.000 0.056 3301 3764 2347 0 0 0 0 0 0

3885 0.71 146.0 300.5 13.3 413 3889 0.00 1.98 0.00 0.000 6 0.000 0.037 3310 2529 2345 0 0 0 0 0 0

4089 0.71 146.0 277.0 11.1 432 4092 0.00 2.05 0.00 0.000 4 0.000 0.056 3310 3771 2345 0 0 0 0 0 0

4146 0.71 146.0 269.6 13.5 437 4149 0.00 1.95 0.00 0.000 6 0.000 0.038 3319 2536 2344 0 0 0 0 0 0

4351 0.71 146.0 245.2 12.1 456 4354 0.00 2.03 0.00 0.000 4 0.000 0.055 3319 3773 2344 0 0 0 0 0 0

4420 0.71 146.0 235.9 14.4 462 4425 0.12 1.92 0.00 0.000 6 0.158 0.038 3296 2553 2344 0 0 0 0 0 0

4563 0.71 146.0 220.3 10.3 475 4567 0.00 2.00 0.00 0.000 4 0.000 0.057 3295 3769 2343 0 0 0 0 0 0

4601 0.71 146.0 215.3 11.9 478 4609 0.00 1.95 0.00 0.000 6 0.000 0.039 3303 2557 2344 0 0 0 0 0 0

4737 0.71 146.0 200.8 10.8 491 4738 0.00 0.00 0.00 0.000 6 0.000 0.000 3303 2556 2343 0 0 0 0 0 0

4863 0.71 146.0 187.3 10.7 503 4867 0.00 2.00 0.00 0.000 4 0.000 0.056 3303 3767 2343 0 0 0 0 0 0

4921 0.71 146.0 180.5 12.1 508 4924 0.00 1.90 0.00 0.000 6 0.000 0.038 3312 2560 2343 0 0 0 0 0 0

5062 0.71 146.0 164.6 11.0 521 5064 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 2558 2343 0 0 0 0 0 0

5189 0.71 146.0 150.4 11.1 533 5192 0.00 2.00 0.00 0.000 4 0.000 0.056 3313 3771 2343 0 0 0 0 0 0

5248 0.71 146.0 142.3 12.5 538 5257 0.00 1.92 0.00 0.000 6 0.000 0.039 3321 2574 2342 0 0 0 0 0 0

5385 0.71 146.0 126.4 12.1 551 5386 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 2573 2342 0 0 0 0 0 0

5511 0.71 146.0 111.7 11.6 563 5515 0.00 1.98 0.00 0.000 4 0.000 0.056 3321 3773 2342 0 0 0 0 0 0

5571 0.71 146.0 103.5 13.6 568 5580 0.10 1.90 0.00 0.000 6 0.135 0.039 3299 2589 2342 0 0 0 0 0 0

5710 0.71 146.0 89.6 10.3 590 5718 0.00 0.00 0.00 0.000 6 0.000 0.000 3299 2589 2341 0 0 0 0 0 0

5849 0.71 146.0 75.9 9.9 615 5856 0.00 2.00 0.00 0.000 4 0.000 0.057 3299 3769 2341 0 0 0 0 0 0

5923 0.71 146.0 67.5 12.1 628 5931 0.00 1.90 0.00 0.000 6 0.000 0.038 3306 2591 2341 0 0 0 0 0 0

6064 0.71 146.0 53.1 10.3 653 6071 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2590 2341 0 0 0 0 0 0

6203 0.71 146.0 37.6 11.1 678 6211 0.00 2.00 0.00 0.000 4 0.000 0.059 3306 3768 2341 0 0 0 0 0 0

6290 0.71 146.0 28.8 12.5 693 6297 0.00 1.85 0.00 0.000 6 0.000 0.037 3315 2594 2340 0 0 0 0 0 0

6432 0.71 146.0 13.0 9.1 718 6439 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2593 2340 0 0 0 0 0 0

6519 end climb: SURFACE_DEPTH_REACHED

state 6519 begin surface coast

6545 end surface coast: CONTROL_FINISHED_OK

state 6545 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	597	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	36	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	41	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	-30892.285	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	110111,132950,-7629.804,17449.197,10,1.4,11,125.4	TGT_NAME	POLYNYA1
_CALLS	2	TGT_LATLONG	-7630.000,17000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110111,134501,-7629.837,17448.736,38,1.0,38,125.4	MHEAD_RNG_PITCHd_Wd	179.3,124833,-16.0,-9.091
SPEED_LIMITS	0.157,0.251	D_GRID	382

FREEZE	1.14,-0.401,-1.888,2,1,0	_24V_AH	20.5,85.466
FINISH	1.1,1.027630	_10V_AH	9.6,59.226
SM_CCo	6562,54.60,0.729,1,0,1941,250.20	FG_AHR_24Vo	0.000
SM_GC	2.21,0.00,0.00,54.60,0.000,0.000,0.729,404,2676,1941,-8.31,0.74,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17445.83,110111,131333	MEM	258168
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50545,737
HUMID	54.80	CAP_FILE_SIZE	107578,0
INTERNAL_PRESSURE	8.8187	CFSIZE	260165632,220205056
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	3	CURRENT	0.150,206.7,1
ALTIM_TOP_PING	19.8,18.7	GPS	110111,153644,-7629.844,17444.822,14,1.2,14,125.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	203	79.78	SBE_CT	516	24	254.26
Roll_motor	72	99	146.89	AA4330	948	33	641.78
VBD_pump_during_apogee	277	1043	5938.66	WL_BBFL2VMT	1015	105	2184.84
VBD_pump_during_surface	54	729	816.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	115.07	nil	0	0	0.00
Iridium_during_connect	74	160	245.32	nil	0	0	0.00
Iridium_during_xfer	509	223	2328.02	nil	0	0	0.00
Transponder_ping	2	420	17.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	39	50	19.07
TT8	1854	19	352.51
LPSleep	2421	2	50.92
TT8_Active	506	19	96.26
TT8_Sampling	2429	39	928.38
TT8_CF8	325	45	143.09
TT8_Kalman	0	0	0.00
Analog_circuits	1263	12	145.60
GPS_charging	0	0	0.00
Compass	1222	15	176.09
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.71	-146.0	0.0	0.0	0	158	0.00	0.00	-137.73	0.000	2	0.000	0.000	361	2685	3188	0	0	0	0	0	0
163	-0.71	-146.0	3.2	-1.6	20	193	9.65	2.45	-10.77	0.000	4	0.203	0.060	2827	1242	3560	0	0	0	0	0	0
249	-0.71	-146.0	17.1	-14.1	34	257	0.00	2.38	0.00	0.000	6	0.000	0.054	2818	2637	3564	0	0	0	0	0	0
387	-0.71	-146.0	39.6	-16.0	59	394	0.00	1.85	0.00	0.000	4	0.000	0.057	2809	3767	3564	0	0	0	0	0	0
473	-0.71	-146.0	54.3	-15.7	74	481	0.00	1.77	0.00	0.000	6	0.000	0.039	2809	2667	3564	0	0	0	0	0	0
613	-0.71	-146.0	75.5	-15.4	99	619	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2666	3564	0	0	0	0	0	0
748	-0.71	-146.0	96.4	-14.8	124	756	0.00	1.85	0.00	0.000	4	0.000	0.058	2801	3760	3565	0	0	0	0	0	0
800	-0.71	-146.0	105.2	-16.1	130	809	0.08	1.75	0.00	0.000	6	0.139	0.039	2826	2668	3565	0	0	0	0	0	0
938	-0.71	-146.0	123.8	-13.5	143	945	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2667	3565	0	0	0	0	0	0
1073	-0.71	-146.0	142.5	-13.8	156	1077	0.00	1.83	0.00	0.000	4	0.000	0.057	2819	3771	3565	0	0	0	0	0	0
1111	-0.71	-146.0	148.5	-15.0	159	1119	0.00	1.77	0.00	0.000	6	0.000	0.040	2819	2677	3565	0	0	0	0	0	0
1247	-0.71	-146.0	167.9	-14.9	172	1248	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2676	3565	0	0	0	0	0	0
1374	-0.71	-146.0	186.4	-14.7	184	1382	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2676	3565	0	0	0	0	0	0
1511	-0.71	-146.0	206.7	-14.9	197	1514	0.00	1.80	0.00	0.000	4	0.000	0.059	2811	3763	3565	0	0	0	0	0	0
1538	-0.71	-146.0	211.5	-15.9	199	1546	0.00	1.75	0.00	0.000	6	0.000	0.039	2811	2678	3565	0	0	0	0	0	0
1673	-0.71	-146.0	231.9	-15.7	212	1674	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2678	3564	0	0	0	0	0	0
1802	-0.71	-146.0	250.8	-14.8	224	1805	0.00	1.80	0.00	0.000	4	0.000	0.060	2802	3763	3565	0	0	0	0	0	0
1859	-0.71	-146.0	260.2	-15.8	229	1863	0.12	1.70	0.00	0.000	6	0.155	0.039	2836	2679	3565	0	0	0	0	0	0
2064	-0.71	-146.0	285.7	-12.4	248	2070	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	2677	3565	0	0	0	0	0	0
2262	-0.71	-146.0	309.4	-11.8	267	2266	0.00	1.80	0.00	0.000	4	0.000	0.060	2829	3762	3564	0	0	0	0	0	0
2300	-0.71	-146.0	314.4	-13.0	270	2307	0.00	1.73	0.00	0.000	6	0.000	0.039	2829	2692	3565	0	0	0	0	0	0
2500	-0.71	-146.0	339.3	-12.8	289	2507	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	2693	3565	0	0	0	0	0	0
2700	-0.71	-146.0	364.8	-12.5	308	2701	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	2692	3565	0	0	0	0	0	0
2834	end dive: TARGET_DEPTH_EXCEEDED
state	2834	begin apogee
2841	-0.27	0.0	382.6	12.9	321	2979	0.45	0.00	130.18	1.043	4	0.121	0.000	2974	2494	2961	0	0	0	0	0	0
2979	end apogee: CONTROL_FINISHED_OK
state	2980	begin climb
2982	0.71	146.0	389.7	0.0	333	3142	1.05	2.55	147.45	0.963	4	0.080	0.047	3291	1109	2364	0	0	0	0	0	0
3259	0.71	146.0	369.6	9.8	357	3267	0.00	2.55	0.00	0.000	6	0.000	0.049	3291	2499	2354	0	0	0	0	0	0
3459	0.71	146.0	349.0	10.6	376	3464	0.00	2.45	0.00	0.000	4	0.000	0.047	3301	1098	2350	0	0	0	0	0	0
3589	0.71	146.0	335.2	10.7	387	3593	0.00	2.47	0.00	0.000	6	0.000	0.050	3300	2523	2348	0	0	0	0	0	0
3788	0.71	146.0	313.1	11.3	405	3792	0.00	2.08	0.00	0.000	4	0.000	0.056	3301	3764	2347	0	0	0	0	0	0
3885	0.71	146.0	300.5	13.3	413	3889	0.00	1.98	0.00	0.000	6	0.000	0.037	3310	2529	2345	0	0	0	0	0	0
4089	0.71	146.0	277.0	11.1	432	4092	0.00	2.05	0.00	0.000	4	0.000	0.056	3310	3771	2345	0	0	0	0	0	0
4146	0.71	146.0	269.6	13.5	437	4149	0.00	1.95	0.00	0.000	6	0.000	0.038	3319	2536	2344	0	0	0	0	0	0
4351	0.71	146.0	245.2	12.1	456	4354	0.00	2.03	0.00	0.000	4	0.000	0.055	3319	3773	2344	0	0	0	0	0	0
4420	0.71	146.0	235.9	14.4	462	4425	0.12	1.92	0.00	0.000	6	0.158	0.038	3296	2553	2344	0	0	0	0	0	0
4563	0.71	146.0	220.3	10.3	475	4567	0.00	2.00	0.00	0.000	4	0.000	0.057	3295	3769	2343	0	0	0	0	0	0
4601	0.71	146.0	215.3	11.9	478	4609	0.00	1.95	0.00	0.000	6	0.000	0.039	3303	2557	2344	0	0	0	0	0	0
4737	0.71	146.0	200.8	10.8	491	4738	0.00	0.00	0.00	0.000	6	0.000	0.000	3303	2556	2343	0	0	0	0	0	0
4863	0.71	146.0	187.3	10.7	503	4867	0.00	2.00	0.00	0.000	4	0.000	0.056	3303	3767	2343	0	0	0	0	0	0
4921	0.71	146.0	180.5	12.1	508	4924	0.00	1.90	0.00	0.000	6	0.000	0.038	3312	2560	2343	0	0	0	0	0	0
5062	0.71	146.0	164.6	11.0	521	5064	0.00	0.00	0.00	0.000	6	0.000	0.000	3313	2558	2343	0	0	0	0	0	0
5189	0.71	146.0	150.4	11.1	533	5192	0.00	2.00	0.00	0.000	4	0.000	0.056	3313	3771	2343	0	0	0	0	0	0
5248	0.71	146.0	142.3	12.5	538	5257	0.00	1.92	0.00	0.000	6	0.000	0.039	3321	2574	2342	0	0	0	0	0	0
5385	0.71	146.0	126.4	12.1	551	5386	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	2573	2342	0	0	0	0	0	0
5511	0.71	146.0	111.7	11.6	563	5515	0.00	1.98	0.00	0.000	4	0.000	0.056	3321	3773	2342	0	0	0	0	0	0
5571	0.71	146.0	103.5	13.6	568	5580	0.10	1.90	0.00	0.000	6	0.135	0.039	3299	2589	2342	0	0	0	0	0	0
5710	0.71	146.0	89.6	10.3	590	5718	0.00	0.00	0.00	0.000	6	0.000	0.000	3299	2589	2341	0	0	0	0	0	0
5849	0.71	146.0	75.9	9.9	615	5856	0.00	2.00	0.00	0.000	4	0.000	0.057	3299	3769	2341	0	0	0	0	0	0
5923	0.71	146.0	67.5	12.1	628	5931	0.00	1.90	0.00	0.000	6	0.000	0.038	3306	2591	2341	0	0	0	0	0	0
6064	0.71	146.0	53.1	10.3	653	6071	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2590	2341	0	0	0	0	0	0
6203	0.71	146.0	37.6	11.1	678	6211	0.00	2.00	0.00	0.000	4	0.000	0.059	3306	3768	2341	0	0	0	0	0	0
6290	0.71	146.0	28.8	12.5	693	6297	0.00	1.85	0.00	0.000	6	0.000	0.037	3315	2594	2340	0	0	0	0	0	0
6432	0.71	146.0	13.0	9.1	718	6439	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2593	2340	0	0	0	0	0	0
6519	end climb: SURFACE_DEPTH_REACHED
state	6519	begin surface coast
6545	end surface coast: CONTROL_FINISHED_OK
state	6545	begin surface