Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 77 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 7 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 77 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2600 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2650 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 500 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 616.91943 R_PORT_OVSHOOT 36 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 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 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 4 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 125 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 200 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 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 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 20 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -18059.967 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0099999998 STROBE 0 AH0_24V 134.3 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 102.9 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 -5 PITCH_MIN 203 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 225 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2800 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043281103

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -51.009045 SEABIRD_T_H 0.00062152545

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_I 2.1491383e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0368557e-06

MASS 51780 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.162479

NAV_MODE 0 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1594115

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I 4.3937558e-05

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00011023274

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

AH0_10V 102.9 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 616.91943

AH0_24V 134.3 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 500 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 4

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3889 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 203 TGT_DEFAULT_LAT -7700

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 17100

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 10 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011732637 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -51.009045 T_DIVE 125

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

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 -18059.967

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 200

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0099999998 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 503 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 2800 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2650 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2600 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2960 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 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 225 R_PORT_OVSHOOT 36 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE5 -1 MISSION 7 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 77 NAV_MODE 0 SEABIRD_C_J 0.00011023274 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043281103 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062152545 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.1491383e-05 XPDR_VALID 1

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.0368557e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 041210,142307,-7654.883,17108.434,31,1.1,31,132.7 TGT_NAME POLYNYA

_CALLS 2 TGT_LATLONG -7700.000,17100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 10.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041210,142307,-7654.883,17108.434,31,1.1,31,132.7 MHEAD_RNG_PITCHd_Wd 67.6,10107,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 775

Post-dive calculations and measurements:

FREEZE 0.10,-1.901,-1.898,2,4,2 _24V_AH 22.5,1.106

FINISH 0.1,1.027838 _10V_AH 10.1,0.460

SM_CCo 7122,103.80,0.102,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 0.56,0.00,0.00,103.80,0.000,0.000,0.102,185,2577,445,-8.17,-0.65,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7612.11,17105.10,041210,141459 MEM 258928

TT8_MAMPS 0.026964 DATA_FILE_SIZE 47030,727

HUMID 50.31 CAP_FILE_SIZE 98362,0

INTERNAL_PRESSURE 8.59408 CFSIZE 260165632,246452224

TCM_TEMP 14.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 0 GPS 041210,142307,-7654.883,17108.434,181,99.0,181,132.7

ALTIM_TOP_PING 19.5,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 169 42.61 SBE_CT 511 24 276.15

Roll_motor 56 65 83.21 AA4330 858 33 637.44

VBD_pump_during_apogee 536 992 11972.13 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 103 101 237.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 18.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1777 19 355.44

LPSleep 3426 2 75.78

TT8_Active 612 19 122.46

TT8_Sampling 1347 39 541.80

TT8_CF8 118 45 54.87

TT8_Kalman 0 0 0.00

Analog_circuits 1377 12 166.98

GPS_charging 0 0 0.00

Compass 1275 15 193.31

RAFOS 0 0 0.00

Transponder 15 30 4.76

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 -0.84 -219.0 0.0 0.0 0 25 0.00 0.00 -7.22 0.000 2 0.000 0.000 2795 2652 3398 0 0 0 0 0 0

27 -0.84 -219.0 12.8 -0.0 1 40 0.73 0.00 -8.75 0.000 6 0.079 0.000 2530 2652 3857 0 0 0 0 0 0

177 -0.79 -219.0 34.7 -16.8 27 183 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2652 3860 0 0 0 0 0 0

319 -0.74 -219.0 61.0 -17.7 52 326 0.12 0.00 0.00 0.000 6 0.170 0.000 2564 2652 3861 0 0 0 0 0 0

462 -0.74 -219.0 82.9 -14.5 77 468 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2652 3861 0 0 0 0 0 0

608 -0.74 -219.0 103.3 -13.7 101 612 0.00 1.77 0.00 0.000 4 0.000 0.050 2555 3766 3861 0 0 0 0 0 0

676 -0.74 -219.0 113.9 -15.5 107 679 0.00 1.80 0.00 0.000 6 0.000 0.030 2556 2586 3861 0 0 0 0 0 0

815 -0.74 -219.0 136.3 -16.4 120 816 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2583 3861 0 0 0 0 0 0

942 -0.74 -219.0 157.0 -14.6 132 946 0.00 1.88 0.00 0.000 4 0.000 0.050 2548 3766 3861 0 0 0 0 0 0

1002 -0.74 -219.0 167.1 -15.9 137 1010 0.00 1.80 0.00 0.000 6 0.000 0.029 2547 2611 3861 0 0 0 0 0 0

1137 -0.74 -219.0 186.2 -16.5 150 1138 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2611 3861 0 0 0 0 0 0

1265 -0.74 -219.0 204.9 -13.2 162 1266 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2611 3861 0 0 0 0 0 0

1392 -0.74 -219.0 222.8 -13.9 174 1393 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2611 3861 0 0 0 0 0 0

1520 -0.74 -219.0 241.3 -14.9 186 1523 0.00 1.85 0.00 0.000 4 0.000 0.052 2547 3773 3861 0 0 0 0 0 0

1599 -0.74 -219.0 252.9 -14.2 193 1603 0.00 1.80 0.00 0.000 6 0.000 0.030 2547 2614 3860 0 0 0 0 0 0

1802 -0.74 -219.0 281.3 -13.4 212 1806 0.00 1.83 0.00 0.000 4 0.000 0.051 2547 3766 3861 0 0 0 0 0 0

1864 -0.74 -219.0 290.1 -13.6 217 1870 0.00 1.73 0.00 0.000 6 0.000 0.031 2547 2625 3860 0 0 0 0 0 0

2061 -0.74 -219.0 316.4 -13.5 236 2065 0.00 1.80 0.00 0.000 4 0.000 0.051 2547 3766 3861 0 0 0 0 0 0

2121 -0.74 -219.0 325.1 -14.1 241 2129 0.00 1.75 0.00 0.000 6 0.000 0.030 2547 2637 3861 0 0 0 0 0 0

2320 -0.74 -219.0 352.2 -13.8 260 2324 0.00 1.83 0.00 0.000 4 0.000 0.052 2547 3759 3860 0 0 0 0 0 0

2387 -0.74 -219.0 362.0 -14.3 266 2391 0.00 1.67 0.00 0.000 6 0.000 0.031 2547 2650 3860 0 0 0 0 0 0

2590 -0.74 -219.0 391.2 -14.8 285 2594 0.00 1.77 0.00 0.000 4 0.000 0.050 2546 3773 3861 0 0 0 0 0 0

2651 -0.74 -219.0 400.3 -14.3 290 2658 0.00 1.73 0.00 0.000 6 0.000 0.030 2547 2661 3860 0 0 0 0 0 0

2849 -0.74 -219.0 427.6 -13.5 309 2853 0.00 1.75 0.00 0.000 4 0.000 0.052 2547 3769 3861 0 0 0 0 0 0

2895 -0.74 -219.0 434.0 -13.9 313 2898 0.00 1.65 0.00 0.000 6 0.000 0.031 2547 2679 3861 0 0 0 0 0 0

3097 -0.74 -219.0 461.2 -13.4 332 3098 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2677 3861 0 0 0 0 0 0

3289 -0.74 -219.0 487.1 -13.0 350 3293 0.00 1.73 0.00 0.000 4 0.000 0.052 2547 3772 3860 0 0 0 0 0 0

3372 -0.74 -219.0 498.4 -13.1 357 3380 0.00 1.67 0.00 0.000 6 0.000 0.030 2547 2686 3861 0 0 0 0 0 0

3391 end dive: TARGET_DEPTH_EXCEEDED

state 3391 begin apogee

3395 -0.16 0.0 500.4 12.5 359 3581 0.60 0.00 176.18 0.992 4 0.126 0.000 2747 2686 2958 0 0 0 0 0 0

3582 end apogee: CONTROL_FINISHED_OK

state 3582 begin climb

3583 0.84 219.0 509.5 0.0 365 3777 0.93 0.00 187.55 0.939 6 0.071 0.000 3070 2686 2067 0 0 0 0 0 0

3969 0.72 219.0 463.1 15.9 391 3973 0.15 1.85 0.00 0.000 4 0.157 0.051 3031 3762 2056 0 0 0 0 0 0

4059 0.64 219.0 449.2 14.9 399 4063 0.12 1.75 0.00 0.000 6 0.160 0.031 3007 2674 2053 0 0 1 0 0 0

4264 0.70 268.3 425.9 11.3 418 4312 0.00 1.90 42.88 0.907 4 0.000 0.050 3006 3770 1866 0 0 0 0 0 0

4351 0.72 281.7 415.2 12.8 425 4369 0.00 1.80 13.35 0.850 6 0.000 0.031 3014 2663 1811 0 0 1 0 0 0

4562 0.81 331.6 390.7 11.3 445 4617 0.12 1.98 44.72 0.886 4 0.089 0.049 3079 3769 1608 0 0 1 0 0 0

4654 0.70 331.6 374.8 20.2 453 4658 0.20 1.77 0.00 0.000 6 0.138 0.030 3031 2682 1608 0 0 1 0 0 0

4858 0.73 332.8 346.4 13.3 472 4859 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 2682 1604 0 0 0 0 0 0

5047 0.73 332.8 320.6 13.6 490 5050 0.00 1.80 0.00 0.000 4 0.000 0.051 3031 3764 1603 0 0 0 0 0 0

5092 0.73 332.8 313.9 15.3 494 5095 0.00 1.73 0.00 0.000 6 0.000 0.031 3039 2685 1602 0 0 0 0 0 0

5297 0.73 332.8 284.4 15.0 513 5298 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 2683 1602 0 0 0 0 0 0

5486 0.73 332.8 255.0 15.0 531 5489 0.00 1.77 0.00 0.000 4 0.000 0.050 3039 3768 1602 0 0 0 0 0 0

5524 0.73 332.8 248.6 16.1 534 5531 0.00 1.73 0.00 0.000 6 0.000 0.031 3046 2694 1602 0 0 0 0 0 0

5658 0.73 332.8 228.1 15.1 547 5660 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2694 1601 0 0 0 0 0 0

5785 0.73 332.8 209.1 14.3 559 5789 0.00 1.73 0.00 0.000 4 0.000 0.049 3045 3765 1601 0 0 0 0 0 0

5812 0.73 332.8 204.8 15.9 561 5819 0.00 1.70 0.00 0.000 6 0.000 0.031 3053 2704 1601 0 0 0 0 0 0

5946 0.73 332.8 184.9 14.7 574 5947 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2704 1601 0 0 0 0 0 0

6073 0.73 332.8 165.8 15.6 586 6074 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2704 1601 0 0 0 0 0 0

6201 0.73 332.8 146.1 15.5 598 6204 0.00 1.73 0.00 0.000 4 0.000 0.051 3053 3773 1601 0 0 0 0 0 0

6250 0.69 332.8 137.6 17.2 602 6258 0.10 1.70 0.00 0.000 6 0.129 0.031 3025 2707 1601 0 0 0 0 0 0

6385 0.78 375.1 121.3 11.6 615 6425 0.00 0.00 35.72 0.773 6 0.000 0.000 3025 2706 1430 0 0 0 0 0 0

6553 0.90 417.5 101.8 11.6 631 6596 0.17 0.00 35.88 0.741 6 0.074 0.000 3107 2706 1256 0 0 0 0 0 0

6731 0.82 417.5 62.7 23.2 661 6738 0.15 0.00 0.00 0.000 6 0.148 0.000 3066 2706 1256 0 0 0 0 0 0

6875 0.79 417.5 37.6 15.6 686 6881 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2706 1256 0 0 0 0 0 0

7017 0.82 417.5 13.4 16.2 711 7023 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2706 1255 0 0 0 0 0 0

7086 end climb: SURFACE_DEPTH_REACHED

state 7086 begin surface coast

7106 end surface coast: CONTROL_FINISHED_OK

state 7106 begin surface

ID	503	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	7	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	77	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2600	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2650	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	500	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	616.91943	R_PORT_OVSHOOT	36	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	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	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	4	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	125	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	200	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	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	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	20	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-18059.967	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0099999998	STROBE	0	AH0_24V	134.3	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	102.9	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	-5	PITCH_MIN	203	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	225	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2800	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043281103
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-51.009045	SEABIRD_T_H	0.00062152545
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_I	2.1491383e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0368557e-06
MASS	51780	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.162479
NAV_MODE	0	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1594115
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	4.3937558e-05
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	041210,142307,-7654.883,17108.434,31,1.1,31,132.7	TGT_NAME	POLYNYA
_CALLS	2	TGT_LATLONG	-7700.000,17100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	10.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041210,142307,-7654.883,17108.434,31,1.1,31,132.7	MHEAD_RNG_PITCHd_Wd	67.6,10107,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	775

FREEZE	0.10,-1.901,-1.898,2,4,2	_24V_AH	22.5,1.106
FINISH	0.1,1.027838	_10V_AH	10.1,0.460
SM_CCo	7122,103.80,0.102,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	0.56,0.00,0.00,103.80,0.000,0.000,0.102,185,2577,445,-8.17,-0.65,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7612.11,17105.10,041210,141459	MEM	258928
TT8_MAMPS	0.026964	DATA_FILE_SIZE	47030,727
HUMID	50.31	CAP_FILE_SIZE	98362,0
INTERNAL_PRESSURE	8.59408	CFSIZE	260165632,246452224
TCM_TEMP	14.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	0	GPS	041210,142307,-7654.883,17108.434,181,99.0,181,132.7
ALTIM_TOP_PING	19.5,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	169	42.61	SBE_CT	511	24	276.15
Roll_motor	56	65	83.21	AA4330	858	33	637.44
VBD_pump_during_apogee	536	992	11972.13	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	103	101	237.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	18.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1777	19	355.44
LPSleep	3426	2	75.78
TT8_Active	612	19	122.46
TT8_Sampling	1347	39	541.80
TT8_CF8	118	45	54.87
TT8_Kalman	0	0	0.00
Analog_circuits	1377	12	166.98
GPS_charging	0	0	0.00
Compass	1275	15	193.31
RAFOS	0	0	0.00
Transponder	15	30	4.76

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	-0.84	-219.0	0.0	0.0	0	25	0.00	0.00	-7.22	0.000	2	0.000	0.000	2795	2652	3398	0	0	0	0	0	0
27	-0.84	-219.0	12.8	-0.0	1	40	0.73	0.00	-8.75	0.000	6	0.079	0.000	2530	2652	3857	0	0	0	0	0	0
177	-0.79	-219.0	34.7	-16.8	27	183	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2652	3860	0	0	0	0	0	0
319	-0.74	-219.0	61.0	-17.7	52	326	0.12	0.00	0.00	0.000	6	0.170	0.000	2564	2652	3861	0	0	0	0	0	0
462	-0.74	-219.0	82.9	-14.5	77	468	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2652	3861	0	0	0	0	0	0
608	-0.74	-219.0	103.3	-13.7	101	612	0.00	1.77	0.00	0.000	4	0.000	0.050	2555	3766	3861	0	0	0	0	0	0
676	-0.74	-219.0	113.9	-15.5	107	679	0.00	1.80	0.00	0.000	6	0.000	0.030	2556	2586	3861	0	0	0	0	0	0
815	-0.74	-219.0	136.3	-16.4	120	816	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2583	3861	0	0	0	0	0	0
942	-0.74	-219.0	157.0	-14.6	132	946	0.00	1.88	0.00	0.000	4	0.000	0.050	2548	3766	3861	0	0	0	0	0	0
1002	-0.74	-219.0	167.1	-15.9	137	1010	0.00	1.80	0.00	0.000	6	0.000	0.029	2547	2611	3861	0	0	0	0	0	0
1137	-0.74	-219.0	186.2	-16.5	150	1138	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2611	3861	0	0	0	0	0	0
1265	-0.74	-219.0	204.9	-13.2	162	1266	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2611	3861	0	0	0	0	0	0
1392	-0.74	-219.0	222.8	-13.9	174	1393	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2611	3861	0	0	0	0	0	0
1520	-0.74	-219.0	241.3	-14.9	186	1523	0.00	1.85	0.00	0.000	4	0.000	0.052	2547	3773	3861	0	0	0	0	0	0
1599	-0.74	-219.0	252.9	-14.2	193	1603	0.00	1.80	0.00	0.000	6	0.000	0.030	2547	2614	3860	0	0	0	0	0	0
1802	-0.74	-219.0	281.3	-13.4	212	1806	0.00	1.83	0.00	0.000	4	0.000	0.051	2547	3766	3861	0	0	0	0	0	0
1864	-0.74	-219.0	290.1	-13.6	217	1870	0.00	1.73	0.00	0.000	6	0.000	0.031	2547	2625	3860	0	0	0	0	0	0
2061	-0.74	-219.0	316.4	-13.5	236	2065	0.00	1.80	0.00	0.000	4	0.000	0.051	2547	3766	3861	0	0	0	0	0	0
2121	-0.74	-219.0	325.1	-14.1	241	2129	0.00	1.75	0.00	0.000	6	0.000	0.030	2547	2637	3861	0	0	0	0	0	0
2320	-0.74	-219.0	352.2	-13.8	260	2324	0.00	1.83	0.00	0.000	4	0.000	0.052	2547	3759	3860	0	0	0	0	0	0
2387	-0.74	-219.0	362.0	-14.3	266	2391	0.00	1.67	0.00	0.000	6	0.000	0.031	2547	2650	3860	0	0	0	0	0	0
2590	-0.74	-219.0	391.2	-14.8	285	2594	0.00	1.77	0.00	0.000	4	0.000	0.050	2546	3773	3861	0	0	0	0	0	0
2651	-0.74	-219.0	400.3	-14.3	290	2658	0.00	1.73	0.00	0.000	6	0.000	0.030	2547	2661	3860	0	0	0	0	0	0
2849	-0.74	-219.0	427.6	-13.5	309	2853	0.00	1.75	0.00	0.000	4	0.000	0.052	2547	3769	3861	0	0	0	0	0	0
2895	-0.74	-219.0	434.0	-13.9	313	2898	0.00	1.65	0.00	0.000	6	0.000	0.031	2547	2679	3861	0	0	0	0	0	0
3097	-0.74	-219.0	461.2	-13.4	332	3098	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2677	3861	0	0	0	0	0	0
3289	-0.74	-219.0	487.1	-13.0	350	3293	0.00	1.73	0.00	0.000	4	0.000	0.052	2547	3772	3860	0	0	0	0	0	0
3372	-0.74	-219.0	498.4	-13.1	357	3380	0.00	1.67	0.00	0.000	6	0.000	0.030	2547	2686	3861	0	0	0	0	0	0
3391	end dive: TARGET_DEPTH_EXCEEDED
state	3391	begin apogee
3395	-0.16	0.0	500.4	12.5	359	3581	0.60	0.00	176.18	0.992	4	0.126	0.000	2747	2686	2958	0	0	0	0	0	0
3582	end apogee: CONTROL_FINISHED_OK
state	3582	begin climb
3583	0.84	219.0	509.5	0.0	365	3777	0.93	0.00	187.55	0.939	6	0.071	0.000	3070	2686	2067	0	0	0	0	0	0
3969	0.72	219.0	463.1	15.9	391	3973	0.15	1.85	0.00	0.000	4	0.157	0.051	3031	3762	2056	0	0	0	0	0	0
4059	0.64	219.0	449.2	14.9	399	4063	0.12	1.75	0.00	0.000	6	0.160	0.031	3007	2674	2053	0	0	1	0	0	0
4264	0.70	268.3	425.9	11.3	418	4312	0.00	1.90	42.88	0.907	4	0.000	0.050	3006	3770	1866	0	0	0	0	0	0
4351	0.72	281.7	415.2	12.8	425	4369	0.00	1.80	13.35	0.850	6	0.000	0.031	3014	2663	1811	0	0	1	0	0	0
4562	0.81	331.6	390.7	11.3	445	4617	0.12	1.98	44.72	0.886	4	0.089	0.049	3079	3769	1608	0	0	1	0	0	0
4654	0.70	331.6	374.8	20.2	453	4658	0.20	1.77	0.00	0.000	6	0.138	0.030	3031	2682	1608	0	0	1	0	0	0
4858	0.73	332.8	346.4	13.3	472	4859	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	2682	1604	0	0	0	0	0	0
5047	0.73	332.8	320.6	13.6	490	5050	0.00	1.80	0.00	0.000	4	0.000	0.051	3031	3764	1603	0	0	0	0	0	0
5092	0.73	332.8	313.9	15.3	494	5095	0.00	1.73	0.00	0.000	6	0.000	0.031	3039	2685	1602	0	0	0	0	0	0
5297	0.73	332.8	284.4	15.0	513	5298	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	2683	1602	0	0	0	0	0	0
5486	0.73	332.8	255.0	15.0	531	5489	0.00	1.77	0.00	0.000	4	0.000	0.050	3039	3768	1602	0	0	0	0	0	0
5524	0.73	332.8	248.6	16.1	534	5531	0.00	1.73	0.00	0.000	6	0.000	0.031	3046	2694	1602	0	0	0	0	0	0
5658	0.73	332.8	228.1	15.1	547	5660	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2694	1601	0	0	0	0	0	0
5785	0.73	332.8	209.1	14.3	559	5789	0.00	1.73	0.00	0.000	4	0.000	0.049	3045	3765	1601	0	0	0	0	0	0
5812	0.73	332.8	204.8	15.9	561	5819	0.00	1.70	0.00	0.000	6	0.000	0.031	3053	2704	1601	0	0	0	0	0	0
5946	0.73	332.8	184.9	14.7	574	5947	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2704	1601	0	0	0	0	0	0
6073	0.73	332.8	165.8	15.6	586	6074	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2704	1601	0	0	0	0	0	0
6201	0.73	332.8	146.1	15.5	598	6204	0.00	1.73	0.00	0.000	4	0.000	0.051	3053	3773	1601	0	0	0	0	0	0
6250	0.69	332.8	137.6	17.2	602	6258	0.10	1.70	0.00	0.000	6	0.129	0.031	3025	2707	1601	0	0	0	0	0	0
6385	0.78	375.1	121.3	11.6	615	6425	0.00	0.00	35.72	0.773	6	0.000	0.000	3025	2706	1430	0	0	0	0	0	0
6553	0.90	417.5	101.8	11.6	631	6596	0.17	0.00	35.88	0.741	6	0.074	0.000	3107	2706	1256	0	0	0	0	0	0
6731	0.82	417.5	62.7	23.2	661	6738	0.15	0.00	0.00	0.000	6	0.148	0.000	3066	2706	1256	0	0	0	0	0	0
6875	0.79	417.5	37.6	15.6	686	6881	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2706	1256	0	0	0	0	0	0
7017	0.82	417.5	13.4	16.2	711	7023	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2706	1255	0	0	0	0	0	0
7086	end climb: SURFACE_DEPTH_REACHED
state	7086	begin surface coast
7106	end surface coast: CONTROL_FINISHED_OK
state	7106	begin surface