Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 601 * 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 601 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 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 36 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 -30898.752 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.025 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -8 PITCH_MIN 450 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3065 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043373196

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -70.546913 SEABIRD_T_H 0.00062598457

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_I 2.5066851e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.8555498e-06

MASS 51763 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7998753

NAV_MODE 2 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1362277

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00070417771

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014171835

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 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 -30898.752

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 320

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.025 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 502 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2650 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2961 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51763 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 R_PORT_OVSHOOT 37 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 36 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 601 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 110111,215820,-7629.625,17429.947,12,1.8,13,125.9 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 1.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110111,220836,-7629.584,17429.676,39,0.8,39,125.9 MHEAD_RNG_PITCHd_Wd 150.8,116594,-16.0,-9.091

SPEED_LIMITS 0.157,0.251 D_GRID 386

Post-dive calculations and measurements:

FREEZE 1.23,0.029,-1.889,2,1,0 _24V_AH 20.6,85.924

FINISH 1.2,1.027622 _10V_AH 9.6,59.612

SM_CCo 6597,54.42,0.731,1,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 2.16,0.00,0.00,54.42,0.000,0.000,0.731,403,2629,1940,-8.31,-0.59,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17429.23,110111,202031 MEM 258120

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50567,725

HUMID 55.04 CAP_FILE_SIZE 104935,0

INTERNAL_PRESSURE 8.82846 CFSIZE 260165632,219967488

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

XPDR_PINGS 2 CURRENT 0.064,232.1,1

ALTIM_TOP_PING 19.5,17.7 GPS 120111,000055,-7629.630,17425.365,9,1.7,14,126.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 196 76.55 SBE_CT 508 24 251.59

Roll_motor 82 60 102.80 AA4330 932 33 634.04

VBD_pump_during_apogee 277 1063 6077.55 WL_BBFL2VMT 1008 105 2182.01

VBD_pump_during_surface 54 730 819.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 64.75 nil 0 0 0.00

Iridium_during_connect 37 160 122.02 nil 0 0 0.00

Iridium_during_xfer 344 223 1582.88 nil 0 0 0.00

Transponder_ping 1 420 12.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 41 50 19.89

TT8 1851 19 351.95

LPSleep 2425 2 51.00

TT8_Active 493 19 93.73

TT8_Sampling 2200 39 840.70

TT8_CF8 307 45 135.35

TT8_Kalman 0 0 0.00

Analog_circuits 1253 12 144.37

GPS_charging 0 0 0.00

Compass 1223 15 176.12

RAFOS 0 0 0.00

Transponder 9 30 2.86

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 13 begin dive

15 -0.71 -146.0 0.0 0.0 0 156 0.00 0.00 -137.77 0.000 2 0.000 0.000 368 2672 3197 0 0 0 0 0 0

161 -0.71 -146.0 3.3 -2.5 20 191 9.18 2.38 -10.30 0.000 4 0.197 0.060 2827 1250 3561 0 0 0 0 0 0

373 -0.71 -146.0 36.0 -13.7 56 381 0.00 2.35 0.00 0.000 6 0.000 0.054 2818 2641 3565 0 0 0 0 0 0

518 -0.71 -146.0 58.0 -14.8 81 524 0.00 1.85 0.00 0.000 4 0.000 0.057 2810 3769 3565 0 0 0 0 0 0

572 -0.71 -146.0 66.8 -15.6 90 581 0.00 1.77 0.00 0.000 6 0.000 0.039 2810 2667 3565 0 0 0 0 0 0

716 -0.71 -146.0 89.6 -16.0 115 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2666 3565 0 0 0 0 0 0

862 -0.71 -146.0 112.3 -15.4 134 866 0.00 1.83 0.00 0.000 4 0.000 0.058 2801 3767 3566 0 0 0 0 0 0

910 -0.71 -146.0 120.4 -16.8 138 915 0.12 1.75 0.00 0.000 6 0.156 0.039 2835 2654 3566 0 0 0 0 0 0

1051 -0.71 -146.0 140.5 -13.7 151 1052 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2652 3566 0 0 0 0 0 0

1178 -0.71 -146.0 157.9 -13.6 163 1181 0.00 1.85 0.00 0.000 4 0.000 0.059 2828 3771 3566 0 0 0 0 0 0

1225 -0.71 -146.0 164.3 -14.6 167 1229 0.00 1.75 0.00 0.000 6 0.000 0.041 2828 2663 3566 0 0 0 0 0 0

1368 -0.71 -146.0 185.0 -14.4 180 1375 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 2660 3566 0 0 0 0 0 0

1503 -0.71 -146.0 204.1 -13.6 193 1507 0.00 1.85 0.00 0.000 4 0.000 0.059 2819 3771 3565 0 0 0 0 0 0

1551 -0.71 -146.0 210.9 -14.5 197 1555 0.00 1.73 0.00 0.000 6 0.000 0.040 2819 2676 3566 0 0 0 0 0 0

1694 -0.71 -146.0 231.3 -14.4 210 1702 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2674 3566 0 0 0 0 0 0

1831 -0.71 -146.0 251.1 -14.7 223 1834 0.00 1.80 0.00 0.000 4 0.000 0.059 2810 3762 3566 0 0 0 0 0 0

1866 -0.71 -146.0 256.7 -15.2 226 1870 0.00 1.70 0.00 0.000 6 0.000 0.039 2810 2681 3566 0 0 0 0 0 0

2070 -0.71 -146.0 286.7 -14.4 245 2071 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2680 3565 0 0 0 0 0 0

2261 -0.71 -146.0 313.9 -13.9 263 2265 0.00 1.80 0.00 0.000 4 0.000 0.059 2802 3762 3566 0 0 0 0 0 0

2319 -0.71 -146.0 322.7 -15.2 268 2323 0.12 1.70 0.00 0.000 6 0.153 0.040 2836 2681 3565 0 0 0 0 0 0

2524 -0.71 -146.0 347.8 -12.0 287 2528 0.00 1.85 0.00 0.000 4 0.000 0.060 2829 3759 3566 0 0 0 0 0 0

2561 -0.71 -146.0 352.5 -13.6 290 2564 0.00 1.67 0.00 0.000 6 0.000 0.040 2829 2694 3565 0 0 0 0 0 0

2764 -0.71 -146.0 378.9 -13.0 309 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2693 3565 0 0 0 0 0 0

2826 end dive: TARGET_DEPTH_EXCEEDED

state 2826 begin apogee

2832 -0.27 0.0 387.0 12.5 315 2970 0.45 0.00 129.85 1.063 4 0.119 0.000 2974 2495 2961 0 0 0 0 0 0

2971 end apogee: CONTROL_FINISHED_OK

state 2971 begin climb

2974 0.71 146.0 394.0 0.0 327 3133 1.05 2.58 147.60 0.980 4 0.079 0.047 3291 1108 2364 0 0 0 0 0 0

3225 0.71 146.0 376.3 10.5 349 3230 0.00 2.58 0.00 0.000 6 0.000 0.049 3291 2502 2355 0 0 0 0 0 0

3424 0.71 146.0 355.6 10.4 367 3429 0.00 2.45 0.00 0.000 4 0.000 0.047 3300 1106 2351 0 0 0 0 0 0

3558 0.71 146.0 341.1 10.3 378 3566 0.00 2.53 0.00 0.000 6 0.000 0.050 3300 2548 2349 0 0 0 0 0 0

3757 0.71 146.0 319.0 11.2 397 3761 0.00 2.05 0.00 0.000 4 0.000 0.056 3301 3767 2348 0 0 0 0 0 0

3856 0.71 146.0 305.7 13.5 405 3863 0.00 2.03 0.00 0.000 6 0.000 0.037 3310 2542 2348 0 0 0 0 0 0

4054 0.71 146.0 283.5 11.0 424 4058 0.00 2.03 0.00 0.000 4 0.000 0.057 3310 3763 2346 0 0 0 0 0 0

4123 0.71 146.0 274.6 13.4 430 4127 0.00 1.92 0.00 0.000 6 0.000 0.038 3319 2541 2346 0 0 0 0 0 0

4327 0.71 146.0 249.4 12.4 449 4331 0.00 2.03 0.00 0.000 4 0.000 0.055 3319 3763 2345 0 0 0 0 0 0

4365 0.71 146.0 244.0 13.3 452 4374 0.08 1.95 0.00 0.000 6 0.139 0.038 3304 2554 2345 0 0 0 0 0 0

4501 0.71 146.0 228.9 11.0 465 4502 0.00 0.00 0.00 0.000 6 0.000 0.000 3304 2553 2345 0 0 0 0 0 0

4627 0.71 146.0 215.5 10.7 477 4631 0.00 2.00 0.00 0.000 4 0.000 0.057 3304 3765 2345 0 0 0 0 0 0

4697 0.71 146.0 207.3 12.5 483 4701 0.00 1.90 0.00 0.000 6 0.000 0.037 3311 2555 2344 0 0 0 0 0 0

4840 0.71 146.0 191.4 11.1 496 4843 0.00 2.00 0.00 0.000 4 0.000 0.057 3311 3767 2344 0 0 0 0 0 0

4897 0.71 146.0 184.2 12.5 501 4901 0.00 1.88 0.00 0.000 6 0.000 0.038 3320 2569 2344 0 0 0 0 0 0

5040 0.71 146.0 167.9 11.2 514 5044 0.00 1.98 0.00 0.000 4 0.000 0.057 3320 3764 2344 0 0 0 0 0 0

5088 0.71 146.0 161.8 12.9 518 5092 0.12 1.85 0.00 0.000 6 0.158 0.037 3296 2583 2344 0 0 0 0 0 0

5229 0.71 146.0 147.5 9.5 531 5230 0.00 0.00 0.00 0.000 6 0.000 0.000 3297 2580 2343 0 0 0 0 0 0

5357 0.71 146.0 135.2 9.7 543 5360 0.00 1.95 0.00 0.000 4 0.000 0.057 3297 3764 2344 0 0 0 0 0 0

5394 0.71 146.0 130.7 11.2 546 5403 0.00 1.90 0.00 0.000 6 0.000 0.037 3304 2583 2343 0 0 0 0 0 0

5530 0.71 146.0 116.9 10.3 559 5533 0.00 1.95 0.00 0.000 4 0.000 0.057 3304 3763 2343 0 0 0 0 0 0

5599 0.71 146.0 108.9 11.8 565 5603 0.00 1.83 0.00 0.000 6 0.000 0.038 3313 2602 2343 0 0 0 0 0 0

5735 0.71 146.0 93.8 10.7 582 5743 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 2598 2342 0 0 0 0 0 0

5880 0.71 146.0 78.6 11.1 607 5886 0.00 1.95 0.00 0.000 4 0.000 0.057 3313 3773 2343 0 0 0 0 0 0

5934 0.71 146.0 72.0 12.8 616 5942 0.00 1.88 0.00 0.000 6 0.000 0.038 3321 2613 2342 0 0 0 0 0 0

6080 0.71 146.0 55.3 11.1 641 6086 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2613 2342 0 0 0 0 0 0

6221 0.71 146.0 38.5 11.5 666 6230 0.00 1.95 0.00 0.000 4 0.000 0.057 3321 3761 2342 0 0 0 0 0 0

6270 0.71 146.0 32.5 12.5 674 6280 0.10 1.83 0.00 0.000 6 0.137 0.038 3299 2623 2342 0 0 0 0 0 0

6420 0.71 146.0 17.2 11.7 699 6428 0.00 1.90 0.00 0.000 4 0.000 0.057 3299 3767 2341 0 0 0 0 0 0

6452 0.71 146.0 12.7 13.4 704 6460 0.00 1.83 0.00 0.000 6 0.000 0.038 3306 2633 2341 0 0 0 0 0 0

6543 end climb: SURFACE_DEPTH_REACHED

state 6543 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	601	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	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	36	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	-30898.752	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.025	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-8	PITCH_MIN	450	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3065	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043373196
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-70.546913	SEABIRD_T_H	0.00062598457
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_I	2.5066851e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.8555498e-06
MASS	51763	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7998753
NAV_MODE	2	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1362277
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00070417771
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	110111,215820,-7629.625,17429.947,12,1.8,13,125.9	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	1.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110111,220836,-7629.584,17429.676,39,0.8,39,125.9	MHEAD_RNG_PITCHd_Wd	150.8,116594,-16.0,-9.091
SPEED_LIMITS	0.157,0.251	D_GRID	386

FREEZE	1.23,0.029,-1.889,2,1,0	_24V_AH	20.6,85.924
FINISH	1.2,1.027622	_10V_AH	9.6,59.612
SM_CCo	6597,54.42,0.731,1,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	2.16,0.00,0.00,54.42,0.000,0.000,0.731,403,2629,1940,-8.31,-0.59,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17429.23,110111,202031	MEM	258120
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50567,725
HUMID	55.04	CAP_FILE_SIZE	104935,0
INTERNAL_PRESSURE	8.82846	CFSIZE	260165632,219967488
TCM_TEMP	14.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	CURRENT	0.064,232.1,1
ALTIM_TOP_PING	19.5,17.7	GPS	120111,000055,-7629.630,17425.365,9,1.7,14,126.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	196	76.55	SBE_CT	508	24	251.59
Roll_motor	82	60	102.80	AA4330	932	33	634.04
VBD_pump_during_apogee	277	1063	6077.55	WL_BBFL2VMT	1008	105	2182.01
VBD_pump_during_surface	54	730	819.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	64.75	nil	0	0	0.00
Iridium_during_connect	37	160	122.02	nil	0	0	0.00
Iridium_during_xfer	344	223	1582.88	nil	0	0	0.00
Transponder_ping	1	420	12.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	41	50	19.89
TT8	1851	19	351.95
LPSleep	2425	2	51.00
TT8_Active	493	19	93.73
TT8_Sampling	2200	39	840.70
TT8_CF8	307	45	135.35
TT8_Kalman	0	0	0.00
Analog_circuits	1253	12	144.37
GPS_charging	0	0	0.00
Compass	1223	15	176.12
RAFOS	0	0	0.00
Transponder	9	30	2.86

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	13	begin dive
15	-0.71	-146.0	0.0	0.0	0	156	0.00	0.00	-137.77	0.000	2	0.000	0.000	368	2672	3197	0	0	0	0	0	0
161	-0.71	-146.0	3.3	-2.5	20	191	9.18	2.38	-10.30	0.000	4	0.197	0.060	2827	1250	3561	0	0	0	0	0	0
373	-0.71	-146.0	36.0	-13.7	56	381	0.00	2.35	0.00	0.000	6	0.000	0.054	2818	2641	3565	0	0	0	0	0	0
518	-0.71	-146.0	58.0	-14.8	81	524	0.00	1.85	0.00	0.000	4	0.000	0.057	2810	3769	3565	0	0	0	0	0	0
572	-0.71	-146.0	66.8	-15.6	90	581	0.00	1.77	0.00	0.000	6	0.000	0.039	2810	2667	3565	0	0	0	0	0	0
716	-0.71	-146.0	89.6	-16.0	115	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2666	3565	0	0	0	0	0	0
862	-0.71	-146.0	112.3	-15.4	134	866	0.00	1.83	0.00	0.000	4	0.000	0.058	2801	3767	3566	0	0	0	0	0	0
910	-0.71	-146.0	120.4	-16.8	138	915	0.12	1.75	0.00	0.000	6	0.156	0.039	2835	2654	3566	0	0	0	0	0	0
1051	-0.71	-146.0	140.5	-13.7	151	1052	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	2652	3566	0	0	0	0	0	0
1178	-0.71	-146.0	157.9	-13.6	163	1181	0.00	1.85	0.00	0.000	4	0.000	0.059	2828	3771	3566	0	0	0	0	0	0
1225	-0.71	-146.0	164.3	-14.6	167	1229	0.00	1.75	0.00	0.000	6	0.000	0.041	2828	2663	3566	0	0	0	0	0	0
1368	-0.71	-146.0	185.0	-14.4	180	1375	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	2660	3566	0	0	0	0	0	0
1503	-0.71	-146.0	204.1	-13.6	193	1507	0.00	1.85	0.00	0.000	4	0.000	0.059	2819	3771	3565	0	0	0	0	0	0
1551	-0.71	-146.0	210.9	-14.5	197	1555	0.00	1.73	0.00	0.000	6	0.000	0.040	2819	2676	3566	0	0	0	0	0	0
1694	-0.71	-146.0	231.3	-14.4	210	1702	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2674	3566	0	0	0	0	0	0
1831	-0.71	-146.0	251.1	-14.7	223	1834	0.00	1.80	0.00	0.000	4	0.000	0.059	2810	3762	3566	0	0	0	0	0	0
1866	-0.71	-146.0	256.7	-15.2	226	1870	0.00	1.70	0.00	0.000	6	0.000	0.039	2810	2681	3566	0	0	0	0	0	0
2070	-0.71	-146.0	286.7	-14.4	245	2071	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2680	3565	0	0	0	0	0	0
2261	-0.71	-146.0	313.9	-13.9	263	2265	0.00	1.80	0.00	0.000	4	0.000	0.059	2802	3762	3566	0	0	0	0	0	0
2319	-0.71	-146.0	322.7	-15.2	268	2323	0.12	1.70	0.00	0.000	6	0.153	0.040	2836	2681	3565	0	0	0	0	0	0
2524	-0.71	-146.0	347.8	-12.0	287	2528	0.00	1.85	0.00	0.000	4	0.000	0.060	2829	3759	3566	0	0	0	0	0	0
2561	-0.71	-146.0	352.5	-13.6	290	2564	0.00	1.67	0.00	0.000	6	0.000	0.040	2829	2694	3565	0	0	0	0	0	0
2764	-0.71	-146.0	378.9	-13.0	309	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	2693	3565	0	0	0	0	0	0
2826	end dive: TARGET_DEPTH_EXCEEDED
state	2826	begin apogee
2832	-0.27	0.0	387.0	12.5	315	2970	0.45	0.00	129.85	1.063	4	0.119	0.000	2974	2495	2961	0	0	0	0	0	0
2971	end apogee: CONTROL_FINISHED_OK
state	2971	begin climb
2974	0.71	146.0	394.0	0.0	327	3133	1.05	2.58	147.60	0.980	4	0.079	0.047	3291	1108	2364	0	0	0	0	0	0
3225	0.71	146.0	376.3	10.5	349	3230	0.00	2.58	0.00	0.000	6	0.000	0.049	3291	2502	2355	0	0	0	0	0	0
3424	0.71	146.0	355.6	10.4	367	3429	0.00	2.45	0.00	0.000	4	0.000	0.047	3300	1106	2351	0	0	0	0	0	0
3558	0.71	146.0	341.1	10.3	378	3566	0.00	2.53	0.00	0.000	6	0.000	0.050	3300	2548	2349	0	0	0	0	0	0
3757	0.71	146.0	319.0	11.2	397	3761	0.00	2.05	0.00	0.000	4	0.000	0.056	3301	3767	2348	0	0	0	0	0	0
3856	0.71	146.0	305.7	13.5	405	3863	0.00	2.03	0.00	0.000	6	0.000	0.037	3310	2542	2348	0	0	0	0	0	0
4054	0.71	146.0	283.5	11.0	424	4058	0.00	2.03	0.00	0.000	4	0.000	0.057	3310	3763	2346	0	0	0	0	0	0
4123	0.71	146.0	274.6	13.4	430	4127	0.00	1.92	0.00	0.000	6	0.000	0.038	3319	2541	2346	0	0	0	0	0	0
4327	0.71	146.0	249.4	12.4	449	4331	0.00	2.03	0.00	0.000	4	0.000	0.055	3319	3763	2345	0	0	0	0	0	0
4365	0.71	146.0	244.0	13.3	452	4374	0.08	1.95	0.00	0.000	6	0.139	0.038	3304	2554	2345	0	0	0	0	0	0
4501	0.71	146.0	228.9	11.0	465	4502	0.00	0.00	0.00	0.000	6	0.000	0.000	3304	2553	2345	0	0	0	0	0	0
4627	0.71	146.0	215.5	10.7	477	4631	0.00	2.00	0.00	0.000	4	0.000	0.057	3304	3765	2345	0	0	0	0	0	0
4697	0.71	146.0	207.3	12.5	483	4701	0.00	1.90	0.00	0.000	6	0.000	0.037	3311	2555	2344	0	0	0	0	0	0
4840	0.71	146.0	191.4	11.1	496	4843	0.00	2.00	0.00	0.000	4	0.000	0.057	3311	3767	2344	0	0	0	0	0	0
4897	0.71	146.0	184.2	12.5	501	4901	0.00	1.88	0.00	0.000	6	0.000	0.038	3320	2569	2344	0	0	0	0	0	0
5040	0.71	146.0	167.9	11.2	514	5044	0.00	1.98	0.00	0.000	4	0.000	0.057	3320	3764	2344	0	0	0	0	0	0
5088	0.71	146.0	161.8	12.9	518	5092	0.12	1.85	0.00	0.000	6	0.158	0.037	3296	2583	2344	0	0	0	0	0	0
5229	0.71	146.0	147.5	9.5	531	5230	0.00	0.00	0.00	0.000	6	0.000	0.000	3297	2580	2343	0	0	0	0	0	0
5357	0.71	146.0	135.2	9.7	543	5360	0.00	1.95	0.00	0.000	4	0.000	0.057	3297	3764	2344	0	0	0	0	0	0
5394	0.71	146.0	130.7	11.2	546	5403	0.00	1.90	0.00	0.000	6	0.000	0.037	3304	2583	2343	0	0	0	0	0	0
5530	0.71	146.0	116.9	10.3	559	5533	0.00	1.95	0.00	0.000	4	0.000	0.057	3304	3763	2343	0	0	0	0	0	0
5599	0.71	146.0	108.9	11.8	565	5603	0.00	1.83	0.00	0.000	6	0.000	0.038	3313	2602	2343	0	0	0	0	0	0
5735	0.71	146.0	93.8	10.7	582	5743	0.00	0.00	0.00	0.000	6	0.000	0.000	3313	2598	2342	0	0	0	0	0	0
5880	0.71	146.0	78.6	11.1	607	5886	0.00	1.95	0.00	0.000	4	0.000	0.057	3313	3773	2343	0	0	0	0	0	0
5934	0.71	146.0	72.0	12.8	616	5942	0.00	1.88	0.00	0.000	6	0.000	0.038	3321	2613	2342	0	0	0	0	0	0
6080	0.71	146.0	55.3	11.1	641	6086	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2613	2342	0	0	0	0	0	0
6221	0.71	146.0	38.5	11.5	666	6230	0.00	1.95	0.00	0.000	4	0.000	0.057	3321	3761	2342	0	0	0	0	0	0
6270	0.71	146.0	32.5	12.5	674	6280	0.10	1.83	0.00	0.000	6	0.137	0.038	3299	2623	2342	0	0	0	0	0	0
6420	0.71	146.0	17.2	11.7	699	6428	0.00	1.90	0.00	0.000	4	0.000	0.057	3299	3767	2341	0	0	0	0	0	0
6452	0.71	146.0	12.7	13.4	704	6460	0.00	1.83	0.00	0.000	6	0.000	0.038	3306	2633	2341	0	0	0	0	0	0
6543	end climb: SURFACE_DEPTH_REACHED
state	6543	begin surface coast
6580	end surface coast: CONTROL_FINISHED_OK
state	6580	begin surface