Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 607 * 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 607 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 27 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 20 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 -30906.586 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 -30906.586

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 27 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 20 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 607 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 120111,103307,-7629.874,17408.115,37,0.8,38,126.5 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 1.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120111,104243,-7629.843,17408.021,11,1.1,16,126.5 MHEAD_RNG_PITCHd_Wd 162.5,107230,-16.0,-9.091

SPEED_LIMITS 0.157,0.251 D_GRID 435

Post-dive calculations and measurements:

FREEZE 1.34,0.032,-1.889,2,1,0 _24V_AH 20.6,86.624

FINISH 1.3,1.027627 _10V_AH 9.7,60.189

SM_CCo 7284,52.60,0.722,1,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 2.24,0.00,0.00,52.60,0.000,0.000,0.722,408,2673,1940,-8.29,0.65,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17410.05,120111,080843 MEM 258148

TT8_MAMPS 0.027713 DATA_FILE_SIZE 57118,804

HUMID 54.96 CAP_FILE_SIZE 111764,0

INTERNAL_PRESSURE 8.8187 CFSIZE 260165632,219586560

TCM_TEMP 14.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 2 CURRENT 0.093,157.3,1

ALTIM_TOP_PING 19.5,18.4 GPS 120111,124626,-7629.894,17404.779,13,1.7,14,126.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 198 81.12 SBE_CT 564 24 279.10

Roll_motor 83 107 185.37 AA4330 998 33 679.04

VBD_pump_during_apogee 284 1086 6357.53 WL_BBFL2VMT 1011 105 2187.00

VBD_pump_during_surface 52 722 782.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 57.98 nil 0 0 0.00

Iridium_during_connect 37 160 123.88 nil 0 0 0.00

Iridium_during_xfer 329 223 1515.14 nil 0 0 0.00

Transponder_ping 1 420 15.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.38

TT8 2035 19 390.87

LPSleep 2764 2 58.72

TT8_Active 511 19 98.26

TT8_Sampling 2283 39 881.73

TT8_CF8 328 45 146.01

TT8_Kalman 0 0 0.00

Analog_circuits 1328 12 154.64

GPS_charging 0 0 0.00

Compass 1337 15 194.57

RAFOS 0 0 0.00

Transponder 9 30 2.76

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.71 -146.0 0.0 0.0 0 155 0.00 0.00 -136.50 0.000 2 0.000 0.000 365 2649 3158 0 0 0 0 0 0

159 -0.71 -146.0 3.1 -2.0 19 189 10.12 2.45 -12.25 0.000 4 0.198 0.058 2824 1237 3559 0 0 0 0 0 0

357 -0.71 -146.0 33.1 -13.6 54 365 0.00 2.47 0.00 0.000 6 0.000 0.054 2817 2649 3563 0 0 0 0 0 0

497 -0.71 -146.0 53.6 -14.3 79 504 0.00 1.88 0.00 0.000 4 0.000 0.057 2808 3773 3563 0 0 0 0 0 0

577 -0.71 -146.0 66.3 -15.8 93 584 0.00 1.80 0.00 0.000 6 0.000 0.040 2809 2650 3563 0 0 0 0 0 0

715 -0.71 -146.0 87.8 -15.4 118 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2649 3563 0 0 0 0 0 0

854 -0.71 -146.0 108.7 -15.1 138 858 0.00 1.85 0.00 0.000 4 0.000 0.059 2801 3765 3564 0 0 0 0 0 0

890 -0.71 -146.0 114.5 -16.9 141 894 0.12 1.73 0.00 0.000 6 0.157 0.039 2834 2669 3564 0 0 0 0 0 0

1033 -0.71 -146.0 133.2 -12.6 154 1040 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2665 3564 0 0 0 0 0 0

1168 -0.71 -146.0 151.6 -14.2 167 1172 0.00 1.83 0.00 0.000 4 0.000 0.058 2827 3768 3564 0 0 0 0 0 0

1228 -0.71 -146.0 161.1 -15.5 172 1236 0.00 1.77 0.00 0.000 6 0.000 0.039 2827 2671 3564 0 0 0 0 0 0

1364 -0.71 -146.0 180.8 -14.2 185 1365 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2671 3563 0 0 0 0 0 0

1491 -0.71 -146.0 199.2 -14.4 197 1494 0.00 1.83 0.00 0.000 4 0.000 0.058 2818 3771 3564 0 0 0 0 0 0

1529 -0.71 -146.0 205.4 -16.0 200 1537 0.00 1.77 0.00 0.000 6 0.000 0.039 2818 2677 3563 0 0 0 0 0 0

1665 -0.71 -146.0 225.5 -15.2 213 1666 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2676 3564 0 0 0 0 0 0

1792 -0.71 -146.0 244.1 -14.6 225 1795 0.00 1.83 0.00 0.000 4 0.000 0.060 2809 3770 3564 0 0 0 0 0 0

1849 -0.71 -146.0 253.0 -15.0 230 1852 0.00 1.73 0.00 0.000 6 0.000 0.039 2809 2679 3563 0 0 0 0 0 0

2052 -0.71 -146.0 283.0 -14.6 249 2054 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2677 3563 0 0 0 0 0 0

2244 -0.71 -146.0 309.7 -13.7 267 2248 0.00 1.83 0.00 0.000 4 0.000 0.060 2801 3770 3563 0 0 0 0 0 0

2294 -0.71 -146.0 317.5 -15.1 271 2302 0.08 1.75 0.00 0.000 6 0.137 0.039 2826 2690 3563 0 0 0 0 0 0

2495 -0.71 -146.0 342.0 -12.2 290 2498 0.00 1.80 0.00 0.000 4 0.000 0.059 2819 3771 3563 0 0 0 0 0 0

2522 -0.71 -146.0 346.2 -13.4 292 2529 0.00 1.73 0.00 0.000 6 0.000 0.040 2819 2709 3563 0 0 0 0 0 0

2721 -0.71 -146.0 372.4 -13.2 311 2722 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2708 3563 0 0 0 0 0 0

2912 -0.71 -146.0 397.7 -13.1 329 2916 0.00 1.80 0.00 0.000 4 0.000 0.060 2811 3762 3563 0 0 0 0 0 0

2947 -0.71 -146.0 402.6 -14.6 332 2950 0.00 1.67 0.00 0.000 6 0.000 0.039 2811 2700 3562 0 0 0 0 0 0

3150 -0.71 -146.0 431.0 -14.1 351 3151 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2698 3562 0 0 0 0 0 0

3180 end dive: TARGET_DEPTH_EXCEEDED

state 3180 begin apogee

3187 -0.27 0.0 435.5 14.0 354 3326 0.50 0.00 132.30 1.086 4 0.122 0.000 2970 2487 2962 0 0 0 0 0 0

3327 end apogee: CONTROL_FINISHED_OK

state 3327 begin climb

3329 0.71 146.0 443.4 0.0 366 3496 1.08 2.58 151.80 1.000 4 0.078 0.047 3293 1108 2364 0 0 0 0 1 0

3595 0.71 146.0 424.9 10.1 390 3600 0.00 2.58 0.00 0.000 6 0.000 0.049 3293 2502 2354 0 0 0 0 0 0

3794 0.71 146.0 403.4 11.0 408 3798 0.00 2.47 0.00 0.000 4 0.000 0.047 3302 1101 2349 0 0 0 0 0 0

3924 0.71 146.0 389.2 10.7 419 3928 0.00 2.50 0.00 0.000 6 0.000 0.050 3302 2520 2348 0 0 0 0 0 0

4122 0.71 146.0 366.3 11.6 437 4126 0.00 2.12 0.00 0.000 4 0.000 0.054 3303 3768 2347 0 0 0 0 0 0

4222 0.71 146.0 352.5 13.3 445 4230 0.00 2.03 0.00 0.000 6 0.000 0.037 3312 2524 2346 0 0 0 0 0 0

4423 0.71 146.0 328.1 12.2 464 4427 0.00 2.08 0.00 0.000 4 0.000 0.056 3312 3766 2345 0 0 0 0 0 0

4474 0.71 146.0 320.7 14.4 468 4478 0.00 1.95 0.00 0.000 6 0.000 0.037 3321 2545 2344 0 0 0 0 0 0

4678 0.71 146.0 295.0 12.5 487 4681 0.00 2.03 0.00 0.000 4 0.000 0.056 3321 3767 2344 0 0 0 0 0 0

4727 0.71 146.0 287.9 14.4 491 4735 0.12 1.92 0.00 0.000 6 0.158 0.037 3299 2550 2344 0 0 0 0 0 0

4927 0.71 146.0 266.1 10.6 510 4928 0.00 0.00 0.00 0.000 6 0.000 0.000 3299 2548 2344 0 0 0 0 0 0

5118 0.71 146.0 245.3 11.0 528 5121 0.00 2.03 0.00 0.000 4 0.000 0.056 3298 3775 2343 0 0 0 0 0 0

5221 0.71 146.0 231.2 13.4 537 5230 0.00 1.98 0.00 0.000 6 0.000 0.038 3306 2554 2343 0 0 0 0 0 0

5358 0.71 146.0 215.5 11.9 550 5359 0.00 0.00 0.00 0.000 6 0.000 0.000 3306 2553 2343 0 0 0 0 0 0

5485 0.71 146.0 200.9 11.4 562 5489 0.00 2.00 0.00 0.000 4 0.000 0.056 3306 3767 2342 0 0 0 0 0 0

5531 0.71 146.0 195.1 13.4 566 5535 0.00 1.90 0.00 0.000 6 0.000 0.038 3315 2563 2342 0 0 0 0 0 0

5674 0.71 146.0 178.3 11.4 579 5681 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2562 2342 0 0 0 0 0 0

5810 0.71 146.0 163.0 11.3 592 5814 0.00 2.00 0.00 0.000 4 0.000 0.056 3316 3774 2342 0 0 0 0 0 0

5879 0.71 146.0 154.3 12.8 598 5883 0.00 1.90 0.00 0.000 6 0.000 0.038 3323 2570 2342 0 0 0 0 0 0

6022 0.71 146.0 137.6 11.7 611 6029 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2568 2341 0 0 0 0 0 0

6158 0.71 146.0 121.3 12.0 624 6159 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2568 2341 0 0 0 0 0 0

6284 0.71 146.0 105.5 12.1 636 6288 0.00 2.00 0.00 0.000 4 0.000 0.057 3324 3775 2341 0 0 0 0 0 0

6347 0.71 146.0 97.0 14.4 643 6354 0.15 1.90 0.00 0.000 6 0.150 0.037 3293 2576 2341 0 0 0 0 0 0

6485 0.71 146.0 82.0 9.8 668 6493 0.00 0.00 0.00 0.000 6 0.000 0.000 3293 2575 2340 0 0 0 0 0 0

6623 0.71 146.0 67.8 10.6 693 6631 0.00 2.00 0.00 0.000 4 0.000 0.057 3293 3774 2340 0 0 0 0 0 0

6665 0.71 146.0 63.1 11.5 700 6674 0.00 1.92 0.00 0.000 6 0.000 0.038 3301 2587 2340 0 0 0 0 0 0

6807 0.71 146.0 48.5 9.7 725 6814 0.00 0.00 0.00 0.000 6 0.000 0.000 3300 2585 2340 0 0 0 0 0 0

6947 0.72 150.8 35.3 8.9 750 6955 0.00 2.00 0.00 0.000 4 0.000 0.057 3301 3763 2340 0 0 0 0 0 0

7037 0.72 150.8 24.7 12.4 766 7046 0.00 1.88 0.00 0.000 6 0.000 0.037 3309 2598 2339 0 0 0 0 0 0

7181 0.72 150.8 8.0 12.3 791 7188 0.00 1.95 0.00 0.000 4 0.000 0.057 3309 3767 2339 0 0 0 0 0 0

7221 0.72 150.8 3.2 10.7 797 7229 0.00 1.83 0.00 0.000 6 0.000 0.036 3318 2607 2338 0 0 0 0 0 0

7236 end climb: SURFACE_DEPTH_REACHED

state 7236 begin surface coast

7266 end surface coast: CONTROL_FINISHED_OK

state 7266 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	607	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	27	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	20	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	-30906.586	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	120111,103307,-7629.874,17408.115,37,0.8,38,126.5	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	1.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120111,104243,-7629.843,17408.021,11,1.1,16,126.5	MHEAD_RNG_PITCHd_Wd	162.5,107230,-16.0,-9.091
SPEED_LIMITS	0.157,0.251	D_GRID	435

FREEZE	1.34,0.032,-1.889,2,1,0	_24V_AH	20.6,86.624
FINISH	1.3,1.027627	_10V_AH	9.7,60.189
SM_CCo	7284,52.60,0.722,1,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	2.24,0.00,0.00,52.60,0.000,0.000,0.722,408,2673,1940,-8.29,0.65,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17410.05,120111,080843	MEM	258148
TT8_MAMPS	0.027713	DATA_FILE_SIZE	57118,804
HUMID	54.96	CAP_FILE_SIZE	111764,0
INTERNAL_PRESSURE	8.8187	CFSIZE	260165632,219586560
TCM_TEMP	14.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	2	CURRENT	0.093,157.3,1
ALTIM_TOP_PING	19.5,18.4	GPS	120111,124626,-7629.894,17404.779,13,1.7,14,126.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	198	81.12	SBE_CT	564	24	279.10
Roll_motor	83	107	185.37	AA4330	998	33	679.04
VBD_pump_during_apogee	284	1086	6357.53	WL_BBFL2VMT	1011	105	2187.00
VBD_pump_during_surface	52	722	782.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	57.98	nil	0	0	0.00
Iridium_during_connect	37	160	123.88	nil	0	0	0.00
Iridium_during_xfer	329	223	1515.14	nil	0	0	0.00
Transponder_ping	1	420	15.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.38
TT8	2035	19	390.87
LPSleep	2764	2	58.72
TT8_Active	511	19	98.26
TT8_Sampling	2283	39	881.73
TT8_CF8	328	45	146.01
TT8_Kalman	0	0	0.00
Analog_circuits	1328	12	154.64
GPS_charging	0	0	0.00
Compass	1337	15	194.57
RAFOS	0	0	0.00
Transponder	9	30	2.76

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.71	-146.0	0.0	0.0	0	155	0.00	0.00	-136.50	0.000	2	0.000	0.000	365	2649	3158	0	0	0	0	0	0
159	-0.71	-146.0	3.1	-2.0	19	189	10.12	2.45	-12.25	0.000	4	0.198	0.058	2824	1237	3559	0	0	0	0	0	0
357	-0.71	-146.0	33.1	-13.6	54	365	0.00	2.47	0.00	0.000	6	0.000	0.054	2817	2649	3563	0	0	0	0	0	0
497	-0.71	-146.0	53.6	-14.3	79	504	0.00	1.88	0.00	0.000	4	0.000	0.057	2808	3773	3563	0	0	0	0	0	0
577	-0.71	-146.0	66.3	-15.8	93	584	0.00	1.80	0.00	0.000	6	0.000	0.040	2809	2650	3563	0	0	0	0	0	0
715	-0.71	-146.0	87.8	-15.4	118	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2649	3563	0	0	0	0	0	0
854	-0.71	-146.0	108.7	-15.1	138	858	0.00	1.85	0.00	0.000	4	0.000	0.059	2801	3765	3564	0	0	0	0	0	0
890	-0.71	-146.0	114.5	-16.9	141	894	0.12	1.73	0.00	0.000	6	0.157	0.039	2834	2669	3564	0	0	0	0	0	0
1033	-0.71	-146.0	133.2	-12.6	154	1040	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	2665	3564	0	0	0	0	0	0
1168	-0.71	-146.0	151.6	-14.2	167	1172	0.00	1.83	0.00	0.000	4	0.000	0.058	2827	3768	3564	0	0	0	0	0	0
1228	-0.71	-146.0	161.1	-15.5	172	1236	0.00	1.77	0.00	0.000	6	0.000	0.039	2827	2671	3564	0	0	0	0	0	0
1364	-0.71	-146.0	180.8	-14.2	185	1365	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2671	3563	0	0	0	0	0	0
1491	-0.71	-146.0	199.2	-14.4	197	1494	0.00	1.83	0.00	0.000	4	0.000	0.058	2818	3771	3564	0	0	0	0	0	0
1529	-0.71	-146.0	205.4	-16.0	200	1537	0.00	1.77	0.00	0.000	6	0.000	0.039	2818	2677	3563	0	0	0	0	0	0
1665	-0.71	-146.0	225.5	-15.2	213	1666	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2676	3564	0	0	0	0	0	0
1792	-0.71	-146.0	244.1	-14.6	225	1795	0.00	1.83	0.00	0.000	4	0.000	0.060	2809	3770	3564	0	0	0	0	0	0
1849	-0.71	-146.0	253.0	-15.0	230	1852	0.00	1.73	0.00	0.000	6	0.000	0.039	2809	2679	3563	0	0	0	0	0	0
2052	-0.71	-146.0	283.0	-14.6	249	2054	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2677	3563	0	0	0	0	0	0
2244	-0.71	-146.0	309.7	-13.7	267	2248	0.00	1.83	0.00	0.000	4	0.000	0.060	2801	3770	3563	0	0	0	0	0	0
2294	-0.71	-146.0	317.5	-15.1	271	2302	0.08	1.75	0.00	0.000	6	0.137	0.039	2826	2690	3563	0	0	0	0	0	0
2495	-0.71	-146.0	342.0	-12.2	290	2498	0.00	1.80	0.00	0.000	4	0.000	0.059	2819	3771	3563	0	0	0	0	0	0
2522	-0.71	-146.0	346.2	-13.4	292	2529	0.00	1.73	0.00	0.000	6	0.000	0.040	2819	2709	3563	0	0	0	0	0	0
2721	-0.71	-146.0	372.4	-13.2	311	2722	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2708	3563	0	0	0	0	0	0
2912	-0.71	-146.0	397.7	-13.1	329	2916	0.00	1.80	0.00	0.000	4	0.000	0.060	2811	3762	3563	0	0	0	0	0	0
2947	-0.71	-146.0	402.6	-14.6	332	2950	0.00	1.67	0.00	0.000	6	0.000	0.039	2811	2700	3562	0	0	0	0	0	0
3150	-0.71	-146.0	431.0	-14.1	351	3151	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2698	3562	0	0	0	0	0	0
3180	end dive: TARGET_DEPTH_EXCEEDED
state	3180	begin apogee
3187	-0.27	0.0	435.5	14.0	354	3326	0.50	0.00	132.30	1.086	4	0.122	0.000	2970	2487	2962	0	0	0	0	0	0
3327	end apogee: CONTROL_FINISHED_OK
state	3327	begin climb
3329	0.71	146.0	443.4	0.0	366	3496	1.08	2.58	151.80	1.000	4	0.078	0.047	3293	1108	2364	0	0	0	0	1	0
3595	0.71	146.0	424.9	10.1	390	3600	0.00	2.58	0.00	0.000	6	0.000	0.049	3293	2502	2354	0	0	0	0	0	0
3794	0.71	146.0	403.4	11.0	408	3798	0.00	2.47	0.00	0.000	4	0.000	0.047	3302	1101	2349	0	0	0	0	0	0
3924	0.71	146.0	389.2	10.7	419	3928	0.00	2.50	0.00	0.000	6	0.000	0.050	3302	2520	2348	0	0	0	0	0	0
4122	0.71	146.0	366.3	11.6	437	4126	0.00	2.12	0.00	0.000	4	0.000	0.054	3303	3768	2347	0	0	0	0	0	0
4222	0.71	146.0	352.5	13.3	445	4230	0.00	2.03	0.00	0.000	6	0.000	0.037	3312	2524	2346	0	0	0	0	0	0
4423	0.71	146.0	328.1	12.2	464	4427	0.00	2.08	0.00	0.000	4	0.000	0.056	3312	3766	2345	0	0	0	0	0	0
4474	0.71	146.0	320.7	14.4	468	4478	0.00	1.95	0.00	0.000	6	0.000	0.037	3321	2545	2344	0	0	0	0	0	0
4678	0.71	146.0	295.0	12.5	487	4681	0.00	2.03	0.00	0.000	4	0.000	0.056	3321	3767	2344	0	0	0	0	0	0
4727	0.71	146.0	287.9	14.4	491	4735	0.12	1.92	0.00	0.000	6	0.158	0.037	3299	2550	2344	0	0	0	0	0	0
4927	0.71	146.0	266.1	10.6	510	4928	0.00	0.00	0.00	0.000	6	0.000	0.000	3299	2548	2344	0	0	0	0	0	0
5118	0.71	146.0	245.3	11.0	528	5121	0.00	2.03	0.00	0.000	4	0.000	0.056	3298	3775	2343	0	0	0	0	0	0
5221	0.71	146.0	231.2	13.4	537	5230	0.00	1.98	0.00	0.000	6	0.000	0.038	3306	2554	2343	0	0	0	0	0	0
5358	0.71	146.0	215.5	11.9	550	5359	0.00	0.00	0.00	0.000	6	0.000	0.000	3306	2553	2343	0	0	0	0	0	0
5485	0.71	146.0	200.9	11.4	562	5489	0.00	2.00	0.00	0.000	4	0.000	0.056	3306	3767	2342	0	0	0	0	0	0
5531	0.71	146.0	195.1	13.4	566	5535	0.00	1.90	0.00	0.000	6	0.000	0.038	3315	2563	2342	0	0	0	0	0	0
5674	0.71	146.0	178.3	11.4	579	5681	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2562	2342	0	0	0	0	0	0
5810	0.71	146.0	163.0	11.3	592	5814	0.00	2.00	0.00	0.000	4	0.000	0.056	3316	3774	2342	0	0	0	0	0	0
5879	0.71	146.0	154.3	12.8	598	5883	0.00	1.90	0.00	0.000	6	0.000	0.038	3323	2570	2342	0	0	0	0	0	0
6022	0.71	146.0	137.6	11.7	611	6029	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2568	2341	0	0	0	0	0	0
6158	0.71	146.0	121.3	12.0	624	6159	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2568	2341	0	0	0	0	0	0
6284	0.71	146.0	105.5	12.1	636	6288	0.00	2.00	0.00	0.000	4	0.000	0.057	3324	3775	2341	0	0	0	0	0	0
6347	0.71	146.0	97.0	14.4	643	6354	0.15	1.90	0.00	0.000	6	0.150	0.037	3293	2576	2341	0	0	0	0	0	0
6485	0.71	146.0	82.0	9.8	668	6493	0.00	0.00	0.00	0.000	6	0.000	0.000	3293	2575	2340	0	0	0	0	0	0
6623	0.71	146.0	67.8	10.6	693	6631	0.00	2.00	0.00	0.000	4	0.000	0.057	3293	3774	2340	0	0	0	0	0	0
6665	0.71	146.0	63.1	11.5	700	6674	0.00	1.92	0.00	0.000	6	0.000	0.038	3301	2587	2340	0	0	0	0	0	0
6807	0.71	146.0	48.5	9.7	725	6814	0.00	0.00	0.00	0.000	6	0.000	0.000	3300	2585	2340	0	0	0	0	0	0
6947	0.72	150.8	35.3	8.9	750	6955	0.00	2.00	0.00	0.000	4	0.000	0.057	3301	3763	2340	0	0	0	0	0	0
7037	0.72	150.8	24.7	12.4	766	7046	0.00	1.88	0.00	0.000	6	0.000	0.037	3309	2598	2339	0	0	0	0	0	0
7181	0.72	150.8	8.0	12.3	791	7188	0.00	1.95	0.00	0.000	4	0.000	0.057	3309	3767	2339	0	0	0	0	0	0
7221	0.72	150.8	3.2	10.7	797	7229	0.00	1.83	0.00	0.000	6	0.000	0.036	3318	2607	2338	0	0	0	0	0	0
7236	end climb: SURFACE_DEPTH_REACHED
state	7236	begin surface coast
7266	end surface coast: CONTROL_FINISHED_OK
state	7266	begin surface