Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 600 * 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 600 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 37 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 -30896.064 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 -30896.064

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 320

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.025 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 502 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2650 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2961 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51763 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 R_PORT_OVSHOOT 37 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 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 600 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 110111,195254,-7629.714,17434.932,25,0.8,43,125.8 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 2.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110111,200243,-7629.689,17434.709,14,1.2,14,125.8 MHEAD_RNG_PITCHd_Wd 157.6,118769,-16.0,-9.091

SPEED_LIMITS 0.157,0.251 D_GRID 389

Post-dive calculations and measurements:

FREEZE 1.24,0.045,-1.079,2,2,0 _24V_AH 20.5,85.808

FINISH 1.2,1.015939 _10V_AH 9.6,59.517

SM_CCo 6597,258.00,0.099,0,0,419,623.30 FG_AHR_24Vo 0.000

SM_GC 1.88,0.00,0.00,258.00,0.000,0.000,0.099,405,2671,419,-8.29,0.59,623.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17436.64,110111,191940 MEM 258164

TT8_MAMPS 0.028462 DATA_FILE_SIZE 50376,728

HUMID 52.75 CAP_FILE_SIZE 99047,0

INTERNAL_PRESSURE 8.69174 CFSIZE 260165632,220028928

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

XPDR_PINGS 2 CURRENT 0.085,248.5,1

ALTIM_TOP_PING 19.7,17.5 GPS 110111,215820,-7629.625,17429.947,12,1.8,13,125.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 200 77.55 SBE_CT 511 24 251.69

Roll_motor 84 105 181.79 AA4330 931 33 630.20

VBD_pump_during_apogee 279 1067 6122.86 WL_BBFL2VMT 1000 105 2153.09

VBD_pump_during_surface 258 99 525.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 90 103 191.19 nil 0 0 0.00

Iridium_during_connect 225 160 739.03 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 12.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.14

TT8 1874 19 356.34

LPSleep 2550 2 53.63

TT8_Active 660 19 125.46

TT8_Sampling 2087 39 797.52

TT8_CF8 276 45 121.78

TT8_Kalman 0 0 0.00

Analog_circuits 1407 12 162.19

GPS_charging 0 0 0.00

Compass 1219 15 175.55

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 73 0.00 0.00 -55.28 0.000 2 0.000 0.000 360 2672 2934 0 0 0 0 0 0

76 -0.71 -146.0 3.0 -2.1 8 119 9.25 2.35 -24.15 0.000 4 0.200 0.060 2826 1252 3560 0 0 0 0 0 0

253 -0.71 -146.0 25.0 -13.8 37 260 0.00 2.30 0.00 0.000 6 0.000 0.055 2817 2641 3562 0 0 0 0 0 0

396 -0.71 -146.0 47.2 -15.1 62 404 0.00 1.88 0.00 0.000 4 0.000 0.058 2808 3767 3562 0 0 0 0 0 0

442 -0.71 -146.0 54.4 -16.4 69 449 0.00 1.77 0.00 0.000 6 0.000 0.040 2808 2642 3562 0 0 0 0 0 0

583 -0.71 -146.0 76.6 -16.1 94 591 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2642 3562 0 0 0 0 0 0

728 -0.71 -146.0 99.3 -15.6 119 735 0.00 1.88 0.00 0.000 4 0.000 0.057 2799 3770 3562 0 0 0 0 0 0

766 -0.71 -146.0 105.6 -17.4 123 771 0.12 1.75 0.00 0.000 6 0.158 0.040 2833 2659 3562 0 0 0 0 0 0

909 -0.71 -146.0 126.3 -14.1 136 918 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2658 3562 0 0 0 0 0 0

1045 -0.71 -146.0 145.5 -13.9 149 1048 0.00 1.83 0.00 0.000 4 0.000 0.059 2826 3763 3563 0 0 0 0 0 0

1083 -0.71 -146.0 151.5 -15.4 152 1092 0.00 1.77 0.00 0.000 6 0.000 0.039 2826 2664 3563 0 0 0 0 0 0

1219 -0.71 -146.0 170.3 -14.1 165 1220 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2663 3563 0 0 0 0 0 0

1346 -0.71 -146.0 187.5 -13.5 177 1349 0.00 1.83 0.00 0.000 4 0.000 0.058 2817 3767 3563 0 0 0 0 0 0

1384 -0.71 -146.0 193.7 -15.3 180 1392 0.00 1.77 0.00 0.000 6 0.000 0.039 2817 2670 3563 0 0 0 0 0 0

1521 -0.71 -146.0 212.8 -13.9 193 1529 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 2668 3563 0 0 0 0 0 0

1657 -0.71 -146.0 231.9 -14.1 206 1660 0.00 1.83 0.00 0.000 4 0.000 0.059 2808 3770 3563 0 0 0 0 0 0

1715 -0.71 -146.0 240.5 -15.3 211 1719 0.00 1.73 0.00 0.000 6 0.000 0.040 2809 2677 3563 0 0 0 0 0 0

1855 -0.71 -146.0 261.1 -14.6 224 1856 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2674 3563 0 0 0 0 0 0

2046 -0.71 -146.0 288.7 -14.1 242 2050 0.00 1.83 0.00 0.000 4 0.000 0.060 2800 3770 3563 0 0 0 0 0 0

2081 -0.71 -146.0 293.9 -14.9 245 2086 0.12 1.73 0.00 0.000 6 0.155 0.040 2834 2677 3563 0 0 0 0 0 0

2286 -0.71 -146.0 319.4 -12.5 264 2289 0.00 1.80 0.00 0.000 4 0.000 0.059 2827 3762 3563 0 0 0 0 0 0

2321 -0.71 -146.0 324.3 -13.8 267 2325 0.00 1.70 0.00 0.000 6 0.000 0.039 2827 2681 3563 0 0 0 0 0 0

2526 -0.71 -146.0 350.5 -12.6 286 2527 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2680 3563 0 0 0 0 0 0

2715 -0.71 -146.0 374.1 -12.6 304 2719 0.00 1.80 0.00 0.000 4 0.000 0.060 2818 3760 3563 0 0 0 0 0 0

2754 -0.71 -146.0 379.5 -14.0 307 2761 0.00 1.67 0.00 0.000 6 0.000 0.039 2819 2693 3563 0 0 0 0 0 0

2833 end dive: TARGET_DEPTH_EXCEEDED

state 2833 begin apogee

2840 -0.27 0.0 390.0 13.1 315 2978 0.47 0.00 131.48 1.068 4 0.122 0.000 2971 2496 2961 0 0 0 0 0 0

2979 end apogee: CONTROL_FINISHED_OK

state 2979 begin climb

2981 0.71 146.0 396.3 0.0 327 3141 1.08 2.60 148.20 0.987 4 0.080 0.047 3294 1098 2364 0 0 0 0 0 0

3234 0.71 146.0 376.9 10.6 349 3238 0.00 2.58 0.00 0.000 6 0.000 0.049 3293 2497 2355 0 0 0 0 0 0

3432 0.71 146.0 355.0 10.9 367 3436 0.00 2.45 0.00 0.000 4 0.000 0.046 3302 1099 2351 0 0 0 0 0 0

3578 0.71 146.0 339.8 11.4 379 3582 0.00 2.45 0.00 0.000 6 0.000 0.049 3302 2513 2349 0 0 0 0 0 0

3776 0.71 146.0 317.8 10.9 397 3780 0.00 2.10 0.00 0.000 4 0.000 0.056 3302 3762 2348 0 0 0 0 0 0

3865 0.71 146.0 305.7 13.6 404 3872 0.00 2.00 0.00 0.000 6 0.000 0.037 3312 2526 2347 0 0 0 0 0 0

4065 0.71 146.0 281.7 12.3 423 4068 0.00 2.05 0.00 0.000 4 0.000 0.057 3312 3763 2346 0 0 0 0 0 0

4125 0.71 146.0 273.1 14.0 428 4133 0.08 1.98 0.00 0.000 6 0.140 0.037 3298 2539 2346 0 0 0 0 0 0

4325 0.71 146.0 251.4 10.9 447 4328 0.00 2.03 0.00 0.000 4 0.000 0.057 3298 3767 2345 0 0 0 0 0 0

4361 0.71 146.0 247.1 12.0 450 4364 0.00 1.95 0.00 0.000 6 0.000 0.039 3305 2535 2345 0 0 0 0 0 0

4504 0.71 146.0 231.6 10.5 463 4507 0.00 2.03 0.00 0.000 4 0.000 0.056 3305 3766 2345 0 0 0 0 0 0

4562 0.71 146.0 224.2 12.9 468 4566 0.00 1.90 0.00 0.000 6 0.000 0.037 3315 2552 2344 0 0 0 0 0 0

4705 0.71 146.0 207.6 11.2 481 4712 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2549 2344 0 0 0 0 0 0

4840 0.71 146.0 192.1 11.3 494 4844 0.00 2.00 0.00 0.000 4 0.000 0.056 3315 3764 2344 0 0 0 0 0 0

4910 0.71 146.0 183.1 13.6 500 4914 0.00 1.90 0.00 0.000 6 0.000 0.038 3324 2553 2344 0 0 0 0 0 0

5053 0.71 146.0 166.1 11.5 513 5060 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2552 2344 0 0 0 0 0 0

5189 0.71 146.0 150.1 11.7 526 5193 0.00 2.00 0.00 0.000 4 0.000 0.057 3324 3764 2343 0 0 0 0 0 0

5249 0.71 146.0 141.6 13.4 531 5258 0.10 1.92 0.00 0.000 6 0.134 0.037 3301 2566 2343 0 0 0 0 0 0

5385 0.71 146.0 127.1 10.6 544 5386 0.00 0.00 0.00 0.000 6 0.000 0.000 3301 2566 2343 0 0 0 0 0 0

5512 0.71 146.0 114.0 10.4 556 5516 0.00 1.98 0.00 0.000 4 0.000 0.057 3301 3763 2343 0 0 0 0 0 0

5561 0.71 146.0 107.9 12.0 560 5569 0.00 1.90 0.00 0.000 6 0.000 0.038 3309 2576 2342 0 0 0 0 0 0

5697 0.71 146.0 93.3 10.8 578 5705 0.00 0.00 0.00 0.000 6 0.000 0.000 3308 2576 2342 0 0 0 0 0 0

5842 0.71 146.0 78.5 10.2 603 5849 0.00 1.98 0.00 0.000 4 0.000 0.056 3308 3770 2343 0 0 0 0 0 0

5913 0.71 146.0 70.0 12.4 615 5920 0.00 1.90 0.00 0.000 6 0.000 0.038 3317 2589 2342 0 0 0 0 0 0

6058 0.71 146.0 55.4 10.0 640 6065 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2587 2343 0 0 0 0 0 0

6202 0.71 146.0 40.0 10.2 665 6209 0.00 1.95 0.00 0.000 4 0.000 0.057 3317 3764 2342 0 0 0 0 0 0

6267 0.71 146.0 31.6 13.6 676 6275 0.08 1.88 0.00 0.000 6 0.137 0.037 3302 2592 2342 0 0 0 0 0 0

6415 0.71 146.0 16.7 10.4 701 6422 0.00 2.42 0.00 0.000 4 0.000 0.047 3311 1087 2342 0 0 0 0 0 0

6435 0.71 146.0 14.5 10.3 704 6443 0.00 2.50 0.00 0.000 6 0.000 0.049 3311 2586 2342 0 0 0 0 0 0

6550 end climb: SURFACE_DEPTH_REACHED

state 6550 begin surface coast

6580 end surface coast: CONTROL_FINISHED_OK

state 6580 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	600	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	37	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	-30896.064	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	110111,195254,-7629.714,17434.932,25,0.8,43,125.8	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	2.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110111,200243,-7629.689,17434.709,14,1.2,14,125.8	MHEAD_RNG_PITCHd_Wd	157.6,118769,-16.0,-9.091
SPEED_LIMITS	0.157,0.251	D_GRID	389

FREEZE	1.24,0.045,-1.079,2,2,0	_24V_AH	20.5,85.808
FINISH	1.2,1.015939	_10V_AH	9.6,59.517
SM_CCo	6597,258.00,0.099,0,0,419,623.30	FG_AHR_24Vo	0.000
SM_GC	1.88,0.00,0.00,258.00,0.000,0.000,0.099,405,2671,419,-8.29,0.59,623.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17436.64,110111,191940	MEM	258164
TT8_MAMPS	0.028462	DATA_FILE_SIZE	50376,728
HUMID	52.75	CAP_FILE_SIZE	99047,0
INTERNAL_PRESSURE	8.69174	CFSIZE	260165632,220028928
TCM_TEMP	14.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.085,248.5,1
ALTIM_TOP_PING	19.7,17.5	GPS	110111,215820,-7629.625,17429.947,12,1.8,13,125.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	200	77.55	SBE_CT	511	24	251.69
Roll_motor	84	105	181.79	AA4330	931	33	630.20
VBD_pump_during_apogee	279	1067	6122.86	WL_BBFL2VMT	1000	105	2153.09
VBD_pump_during_surface	258	99	525.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	90	103	191.19	nil	0	0	0.00
Iridium_during_connect	225	160	739.03	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	12.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.14
TT8	1874	19	356.34
LPSleep	2550	2	53.63
TT8_Active	660	19	125.46
TT8_Sampling	2087	39	797.52
TT8_CF8	276	45	121.78
TT8_Kalman	0	0	0.00
Analog_circuits	1407	12	162.19
GPS_charging	0	0	0.00
Compass	1219	15	175.55
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	73	0.00	0.00	-55.28	0.000	2	0.000	0.000	360	2672	2934	0	0	0	0	0	0
76	-0.71	-146.0	3.0	-2.1	8	119	9.25	2.35	-24.15	0.000	4	0.200	0.060	2826	1252	3560	0	0	0	0	0	0
253	-0.71	-146.0	25.0	-13.8	37	260	0.00	2.30	0.00	0.000	6	0.000	0.055	2817	2641	3562	0	0	0	0	0	0
396	-0.71	-146.0	47.2	-15.1	62	404	0.00	1.88	0.00	0.000	4	0.000	0.058	2808	3767	3562	0	0	0	0	0	0
442	-0.71	-146.0	54.4	-16.4	69	449	0.00	1.77	0.00	0.000	6	0.000	0.040	2808	2642	3562	0	0	0	0	0	0
583	-0.71	-146.0	76.6	-16.1	94	591	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2642	3562	0	0	0	0	0	0
728	-0.71	-146.0	99.3	-15.6	119	735	0.00	1.88	0.00	0.000	4	0.000	0.057	2799	3770	3562	0	0	0	0	0	0
766	-0.71	-146.0	105.6	-17.4	123	771	0.12	1.75	0.00	0.000	6	0.158	0.040	2833	2659	3562	0	0	0	0	0	0
909	-0.71	-146.0	126.3	-14.1	136	918	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2658	3562	0	0	0	0	0	0
1045	-0.71	-146.0	145.5	-13.9	149	1048	0.00	1.83	0.00	0.000	4	0.000	0.059	2826	3763	3563	0	0	0	0	0	0
1083	-0.71	-146.0	151.5	-15.4	152	1092	0.00	1.77	0.00	0.000	6	0.000	0.039	2826	2664	3563	0	0	0	0	0	0
1219	-0.71	-146.0	170.3	-14.1	165	1220	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2663	3563	0	0	0	0	0	0
1346	-0.71	-146.0	187.5	-13.5	177	1349	0.00	1.83	0.00	0.000	4	0.000	0.058	2817	3767	3563	0	0	0	0	0	0
1384	-0.71	-146.0	193.7	-15.3	180	1392	0.00	1.77	0.00	0.000	6	0.000	0.039	2817	2670	3563	0	0	0	0	0	0
1521	-0.71	-146.0	212.8	-13.9	193	1529	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	2668	3563	0	0	0	0	0	0
1657	-0.71	-146.0	231.9	-14.1	206	1660	0.00	1.83	0.00	0.000	4	0.000	0.059	2808	3770	3563	0	0	0	0	0	0
1715	-0.71	-146.0	240.5	-15.3	211	1719	0.00	1.73	0.00	0.000	6	0.000	0.040	2809	2677	3563	0	0	0	0	0	0
1855	-0.71	-146.0	261.1	-14.6	224	1856	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2674	3563	0	0	0	0	0	0
2046	-0.71	-146.0	288.7	-14.1	242	2050	0.00	1.83	0.00	0.000	4	0.000	0.060	2800	3770	3563	0	0	0	0	0	0
2081	-0.71	-146.0	293.9	-14.9	245	2086	0.12	1.73	0.00	0.000	6	0.155	0.040	2834	2677	3563	0	0	0	0	0	0
2286	-0.71	-146.0	319.4	-12.5	264	2289	0.00	1.80	0.00	0.000	4	0.000	0.059	2827	3762	3563	0	0	0	0	0	0
2321	-0.71	-146.0	324.3	-13.8	267	2325	0.00	1.70	0.00	0.000	6	0.000	0.039	2827	2681	3563	0	0	0	0	0	0
2526	-0.71	-146.0	350.5	-12.6	286	2527	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2680	3563	0	0	0	0	0	0
2715	-0.71	-146.0	374.1	-12.6	304	2719	0.00	1.80	0.00	0.000	4	0.000	0.060	2818	3760	3563	0	0	0	0	0	0
2754	-0.71	-146.0	379.5	-14.0	307	2761	0.00	1.67	0.00	0.000	6	0.000	0.039	2819	2693	3563	0	0	0	0	0	0
2833	end dive: TARGET_DEPTH_EXCEEDED
state	2833	begin apogee
2840	-0.27	0.0	390.0	13.1	315	2978	0.47	0.00	131.48	1.068	4	0.122	0.000	2971	2496	2961	0	0	0	0	0	0
2979	end apogee: CONTROL_FINISHED_OK
state	2979	begin climb
2981	0.71	146.0	396.3	0.0	327	3141	1.08	2.60	148.20	0.987	4	0.080	0.047	3294	1098	2364	0	0	0	0	0	0
3234	0.71	146.0	376.9	10.6	349	3238	0.00	2.58	0.00	0.000	6	0.000	0.049	3293	2497	2355	0	0	0	0	0	0
3432	0.71	146.0	355.0	10.9	367	3436	0.00	2.45	0.00	0.000	4	0.000	0.046	3302	1099	2351	0	0	0	0	0	0
3578	0.71	146.0	339.8	11.4	379	3582	0.00	2.45	0.00	0.000	6	0.000	0.049	3302	2513	2349	0	0	0	0	0	0
3776	0.71	146.0	317.8	10.9	397	3780	0.00	2.10	0.00	0.000	4	0.000	0.056	3302	3762	2348	0	0	0	0	0	0
3865	0.71	146.0	305.7	13.6	404	3872	0.00	2.00	0.00	0.000	6	0.000	0.037	3312	2526	2347	0	0	0	0	0	0
4065	0.71	146.0	281.7	12.3	423	4068	0.00	2.05	0.00	0.000	4	0.000	0.057	3312	3763	2346	0	0	0	0	0	0
4125	0.71	146.0	273.1	14.0	428	4133	0.08	1.98	0.00	0.000	6	0.140	0.037	3298	2539	2346	0	0	0	0	0	0
4325	0.71	146.0	251.4	10.9	447	4328	0.00	2.03	0.00	0.000	4	0.000	0.057	3298	3767	2345	0	0	0	0	0	0
4361	0.71	146.0	247.1	12.0	450	4364	0.00	1.95	0.00	0.000	6	0.000	0.039	3305	2535	2345	0	0	0	0	0	0
4504	0.71	146.0	231.6	10.5	463	4507	0.00	2.03	0.00	0.000	4	0.000	0.056	3305	3766	2345	0	0	0	0	0	0
4562	0.71	146.0	224.2	12.9	468	4566	0.00	1.90	0.00	0.000	6	0.000	0.037	3315	2552	2344	0	0	0	0	0	0
4705	0.71	146.0	207.6	11.2	481	4712	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2549	2344	0	0	0	0	0	0
4840	0.71	146.0	192.1	11.3	494	4844	0.00	2.00	0.00	0.000	4	0.000	0.056	3315	3764	2344	0	0	0	0	0	0
4910	0.71	146.0	183.1	13.6	500	4914	0.00	1.90	0.00	0.000	6	0.000	0.038	3324	2553	2344	0	0	0	0	0	0
5053	0.71	146.0	166.1	11.5	513	5060	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2552	2344	0	0	0	0	0	0
5189	0.71	146.0	150.1	11.7	526	5193	0.00	2.00	0.00	0.000	4	0.000	0.057	3324	3764	2343	0	0	0	0	0	0
5249	0.71	146.0	141.6	13.4	531	5258	0.10	1.92	0.00	0.000	6	0.134	0.037	3301	2566	2343	0	0	0	0	0	0
5385	0.71	146.0	127.1	10.6	544	5386	0.00	0.00	0.00	0.000	6	0.000	0.000	3301	2566	2343	0	0	0	0	0	0
5512	0.71	146.0	114.0	10.4	556	5516	0.00	1.98	0.00	0.000	4	0.000	0.057	3301	3763	2343	0	0	0	0	0	0
5561	0.71	146.0	107.9	12.0	560	5569	0.00	1.90	0.00	0.000	6	0.000	0.038	3309	2576	2342	0	0	0	0	0	0
5697	0.71	146.0	93.3	10.8	578	5705	0.00	0.00	0.00	0.000	6	0.000	0.000	3308	2576	2342	0	0	0	0	0	0
5842	0.71	146.0	78.5	10.2	603	5849	0.00	1.98	0.00	0.000	4	0.000	0.056	3308	3770	2343	0	0	0	0	0	0
5913	0.71	146.0	70.0	12.4	615	5920	0.00	1.90	0.00	0.000	6	0.000	0.038	3317	2589	2342	0	0	0	0	0	0
6058	0.71	146.0	55.4	10.0	640	6065	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2587	2343	0	0	0	0	0	0
6202	0.71	146.0	40.0	10.2	665	6209	0.00	1.95	0.00	0.000	4	0.000	0.057	3317	3764	2342	0	0	0	0	0	0
6267	0.71	146.0	31.6	13.6	676	6275	0.08	1.88	0.00	0.000	6	0.137	0.037	3302	2592	2342	0	0	0	0	0	0
6415	0.71	146.0	16.7	10.4	701	6422	0.00	2.42	0.00	0.000	4	0.000	0.047	3311	1087	2342	0	0	0	0	0	0
6435	0.71	146.0	14.5	10.3	704	6443	0.00	2.50	0.00	0.000	6	0.000	0.049	3311	2586	2342	0	0	0	0	0	0
6550	end climb: SURFACE_DEPTH_REACHED
state	6550	begin surface coast
6580	end surface coast: CONTROL_FINISHED_OK
state	6580	begin surface