Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 78 * 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 78 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2700 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 57 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 -18429.348 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 -18429.348

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 2700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 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 57 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 78 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,-7654.883,17108.434,181,99.0,181,132.7 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 0.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041210,142307,-7654.883,17108.434,181,99.0,181,132.7 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 -0.03,-2.310,-0.915,2,1,0 _24V_AH 22.5,1.283

FINISH -0.0,1.013465 _10V_AH 10.0,0.534

SM_CCo 7460,111.38,0.100,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 0.55,0.00,0.00,111.38,0.000,0.000,0.100,195,2808,445,-8.14,0.79,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7612.11,17105.10,041210,222214 MEM 258996

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50374,781

HUMID 49.05 CAP_FILE_SIZE 114135,0

INTERNAL_PRESSURE 8.59408 CFSIZE 260165632,246394880

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 0 GPS 051210,010044,-7659.942,17055.521,70,7.9,89,133.3

ALTIM_TOP_PING 19.6,20.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 221 99.33 SBE_CT 546 24 295.25

Roll_motor 40 90 82.36 AA4330 936 33 695.07

VBD_pump_during_apogee 525 991 11723.65 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 111 100 251.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 103 131.51 nil 0 0 0.00

Iridium_during_connect 76 160 273.72 nil 0 0 0.00

Iridium_during_xfer 540 223 2709.61 nil 0 0 0.00

Transponder_ping 1 420 16.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 183 50 91.81

TT8 1820 19 360.46

LPSleep 3677 2 80.53

TT8_Active 727 19 144.02

TT8_Sampling 2204 39 877.31

TT8_CF8 251 45 115.15

TT8_Kalman 0 0 0.00

Analog_circuits 1503 12 180.43

GPS_charging 0 0 0.00

Compass 1267 15 190.07

RAFOS 0 0 0.00

Transponder 12 30 3.87

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.84 -219.0 0.0 0.0 0 170 0.00 0.00 -149.38 0.000 2 0.000 0.000 156 2577 3412 0 0 0 0 0 0

172 -0.84 -219.0 3.4 -7.2 26 198 9.05 1.90 -9.77 0.000 4 0.222 0.045 2521 1381 3856 0 0 0 0 0 0

262 -0.74 -219.0 26.8 -21.8 41 270 0.17 2.33 0.00 0.000 6 0.151 0.045 2558 2784 3858 0 0 0 0 0 0

407 -0.71 -219.0 49.5 -14.2 66 414 0.00 1.60 0.00 0.000 4 0.000 0.051 2552 3760 3858 0 0 0 0 0 0

455 -0.66 -219.0 56.0 -13.9 74 462 0.08 1.52 0.00 0.000 6 0.141 0.031 2578 2797 3858 0 0 0 0 0 0

599 -0.66 -219.0 79.1 -16.5 99 605 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2797 3859 0 0 0 0 0 0

739 -0.66 -219.0 98.2 -13.5 124 745 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2797 3859 0 0 0 0 0 0

873 -0.66 -219.0 116.5 -14.0 138 875 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2797 3859 0 0 0 0 0 0

1001 -0.66 -219.0 135.2 -14.5 150 1002 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2797 3859 0 0 0 0 0 0

1128 -0.66 -219.0 153.3 -13.7 162 1132 0.00 1.58 0.00 0.000 4 0.000 0.052 2572 3754 3859 0 0 0 0 0 0

1166 -0.66 -219.0 159.1 -15.3 165 1174 0.00 1.52 0.00 0.000 6 0.000 0.030 2571 2775 3859 0 0 0 0 0 0

1301 -0.66 -219.0 177.3 -13.5 178 1302 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2775 3859 0 0 0 0 0 0

1428 -0.66 -219.0 194.3 -13.5 190 1432 0.00 1.62 0.00 0.000 4 0.000 0.051 2564 3794 3859 0 0 0 0 0 0

1466 -0.66 -219.0 200.0 -15.1 193 1474 0.00 1.58 0.00 0.000 6 0.000 0.030 2564 2789 3859 0 0 0 0 0 0

1600 -0.66 -219.0 219.5 -14.5 206 1602 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2789 3859 0 0 0 0 0 0

1728 -0.66 -219.0 237.9 -14.4 218 1729 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2788 3858 0 0 0 0 0 0

1855 -0.66 -219.0 255.8 -14.2 230 1857 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2789 3858 0 0 0 0 0 0

2048 -0.66 -219.0 282.3 -13.5 248 2049 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2789 3858 0 0 0 0 0 0

2238 -0.66 -219.0 307.7 -13.3 266 2242 0.00 1.60 0.00 0.000 4 0.000 0.052 2563 3769 3858 0 0 0 0 0 0

2272 -0.66 -219.0 312.3 -13.6 269 2276 0.00 1.52 0.00 0.000 6 0.000 0.031 2563 2792 3858 0 0 0 0 0 0

2478 -0.68 -219.0 339.0 -12.8 288 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2792 3858 0 0 0 0 0 0

2677 -0.71 -219.0 364.8 -12.6 307 2680 0.00 1.58 0.00 0.000 4 0.000 0.052 2563 3758 3858 0 0 0 0 0 0

2723 -0.75 -219.0 370.9 -13.1 311 2726 0.00 1.50 0.00 0.000 6 0.000 0.031 2563 2795 3858 0 0 0 0 0 0

2926 -0.78 -219.0 396.9 -12.8 330 2928 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2795 3858 0 0 0 0 0 0

3119 -0.81 -219.0 421.2 -12.5 348 3120 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2795 3858 0 0 0 0 0 0

3308 -0.84 -219.0 445.2 -12.8 366 3312 0.00 1.58 0.00 0.000 4 0.000 0.052 2563 3763 3858 0 0 0 0 0 0

3358 -0.89 -219.0 451.8 -12.5 370 3366 0.10 1.50 0.00 0.000 6 0.072 0.031 2508 2800 3858 0 0 0 0 0 0

3557 -0.83 -219.0 483.8 -16.6 389 3558 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2800 3858 0 0 0 0 0 0

3652 end dive: TARGET_DEPTH_EXCEEDED

state 3652 begin apogee

3657 -0.16 0.0 500.2 17.2 398 3844 0.70 0.00 176.80 0.991 4 0.132 0.000 2739 2685 2959 0 0 0 0 0 0

3844 end apogee: CONTROL_FINISHED_OK

state 3845 begin climb

3847 0.84 219.0 510.3 0.0 404 4045 0.95 0.00 187.80 0.941 6 0.080 0.000 3062 2685 2065 0 0 0 0 0 0

4235 0.76 219.0 467.7 14.5 429 4239 0.00 1.85 0.00 0.000 4 0.000 0.048 3062 3762 2054 0 0 0 0 0 0

4296 0.63 219.0 457.2 17.2 434 4304 0.20 1.73 0.00 0.000 6 0.135 0.031 3009 2724 2052 0 0 1 0 0 0

4497 0.71 279.3 434.8 10.9 453 4558 0.00 1.85 51.92 0.909 4 0.000 0.052 3009 3760 1821 0 0 1 0 0 0

4585 0.72 293.0 424.2 12.8 461 4604 0.00 1.75 13.50 0.848 6 0.000 0.031 3014 2713 1765 0 0 1 0 0 0

4797 0.83 340.5 400.5 11.4 481 4845 0.15 0.00 42.95 0.889 6 0.083 0.000 3089 2712 1571 0 0 0 0 0 0

5039 0.80 340.5 359.4 17.4 504 5043 0.12 1.77 0.00 0.000 4 0.152 0.050 3055 3764 1565 0 0 1 0 0 0

5065 0.78 340.5 354.2 16.5 506 5072 0.00 1.70 0.00 0.000 6 0.000 0.031 3062 2726 1565 0 0 1 0 0 0

5263 0.78 340.5 325.9 14.2 525 5264 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2727 1563 0 0 0 0 0 0

5454 0.78 340.5 298.5 14.1 543 5455 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2727 1562 0 0 0 0 0 0

5645 0.78 340.5 270.8 15.0 561 5646 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2727 1562 0 0 0 0 0 0

5836 0.78 340.5 243.5 13.9 579 5838 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2726 1562 0 0 0 0 0 0

5964 0.78 340.5 225.4 14.2 591 5965 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2727 1561 0 0 0 0 0 0

6091 0.78 340.5 207.2 14.3 603 6092 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2727 1562 0 0 0 0 0 0

6219 0.78 340.5 188.9 15.0 615 6222 0.00 1.67 0.00 0.000 4 0.000 0.050 3062 3765 1561 0 0 0 0 0 0

6253 0.78 340.5 183.5 16.5 618 6257 0.00 1.65 0.00 0.000 6 0.000 0.032 3068 2702 1561 0 0 0 0 0 0

6392 0.78 340.5 160.7 16.7 631 6393 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2701 1561 0 0 0 0 0 0

6520 0.78 340.5 140.2 15.8 643 6521 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2701 1560 0 0 0 0 0 0

6647 0.78 340.5 119.6 16.2 655 6649 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2701 1560 0 0 0 0 0 0

6775 0.78 340.5 100.0 15.4 667 6776 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2701 1560 0 0 0 0 0 0

6909 0.78 340.5 79.7 15.9 690 6916 0.00 1.75 0.00 0.000 4 0.000 0.050 3068 3787 1560 0 0 0 0 0 0

6945 0.74 340.5 73.6 17.8 696 6953 0.08 1.67 0.00 0.000 6 0.139 0.031 3037 2732 1560 0 0 0 0 0 0

7089 0.79 340.5 53.7 13.5 721 7095 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2732 1560 0 0 0 0 0 0

7232 0.84 340.5 32.2 15.5 746 7238 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2732 1560 0 0 0 0 0 0

7375 0.98 413.8 14.0 10.3 771 7430 0.22 0.00 52.58 0.705 2 0.064 0.000 3135 2731 1300 0 0 0 0 0 0

7431 end climb: SURFACE_DEPTH_REACHED

state 7431 begin surface coast

7444 end surface coast: FINISH_DEPTH_REACHED

state 7444 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	78	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2700	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	57	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	-18429.348	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,-7654.883,17108.434,181,99.0,181,132.7	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	0.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041210,142307,-7654.883,17108.434,181,99.0,181,132.7	MHEAD_RNG_PITCHd_Wd	67.6,10107,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	775

FREEZE	-0.03,-2.310,-0.915,2,1,0	_24V_AH	22.5,1.283
FINISH	-0.0,1.013465	_10V_AH	10.0,0.534
SM_CCo	7460,111.38,0.100,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	0.55,0.00,0.00,111.38,0.000,0.000,0.100,195,2808,445,-8.14,0.79,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7612.11,17105.10,041210,222214	MEM	258996
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50374,781
HUMID	49.05	CAP_FILE_SIZE	114135,0
INTERNAL_PRESSURE	8.59408	CFSIZE	260165632,246394880
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	0	GPS	051210,010044,-7659.942,17055.521,70,7.9,89,133.3
ALTIM_TOP_PING	19.6,20.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	221	99.33	SBE_CT	546	24	295.25
Roll_motor	40	90	82.36	AA4330	936	33	695.07
VBD_pump_during_apogee	525	991	11723.65	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	111	100	251.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	103	131.51	nil	0	0	0.00
Iridium_during_connect	76	160	273.72	nil	0	0	0.00
Iridium_during_xfer	540	223	2709.61	nil	0	0	0.00
Transponder_ping	1	420	16.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	183	50	91.81
TT8	1820	19	360.46
LPSleep	3677	2	80.53
TT8_Active	727	19	144.02
TT8_Sampling	2204	39	877.31
TT8_CF8	251	45	115.15
TT8_Kalman	0	0	0.00
Analog_circuits	1503	12	180.43
GPS_charging	0	0	0.00
Compass	1267	15	190.07
RAFOS	0	0	0.00
Transponder	12	30	3.87

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.84	-219.0	0.0	0.0	0	170	0.00	0.00	-149.38	0.000	2	0.000	0.000	156	2577	3412	0	0	0	0	0	0
172	-0.84	-219.0	3.4	-7.2	26	198	9.05	1.90	-9.77	0.000	4	0.222	0.045	2521	1381	3856	0	0	0	0	0	0
262	-0.74	-219.0	26.8	-21.8	41	270	0.17	2.33	0.00	0.000	6	0.151	0.045	2558	2784	3858	0	0	0	0	0	0
407	-0.71	-219.0	49.5	-14.2	66	414	0.00	1.60	0.00	0.000	4	0.000	0.051	2552	3760	3858	0	0	0	0	0	0
455	-0.66	-219.0	56.0	-13.9	74	462	0.08	1.52	0.00	0.000	6	0.141	0.031	2578	2797	3858	0	0	0	0	0	0
599	-0.66	-219.0	79.1	-16.5	99	605	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2797	3859	0	0	0	0	0	0
739	-0.66	-219.0	98.2	-13.5	124	745	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2797	3859	0	0	0	0	0	0
873	-0.66	-219.0	116.5	-14.0	138	875	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2797	3859	0	0	0	0	0	0
1001	-0.66	-219.0	135.2	-14.5	150	1002	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2797	3859	0	0	0	0	0	0
1128	-0.66	-219.0	153.3	-13.7	162	1132	0.00	1.58	0.00	0.000	4	0.000	0.052	2572	3754	3859	0	0	0	0	0	0
1166	-0.66	-219.0	159.1	-15.3	165	1174	0.00	1.52	0.00	0.000	6	0.000	0.030	2571	2775	3859	0	0	0	0	0	0
1301	-0.66	-219.0	177.3	-13.5	178	1302	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2775	3859	0	0	0	0	0	0
1428	-0.66	-219.0	194.3	-13.5	190	1432	0.00	1.62	0.00	0.000	4	0.000	0.051	2564	3794	3859	0	0	0	0	0	0
1466	-0.66	-219.0	200.0	-15.1	193	1474	0.00	1.58	0.00	0.000	6	0.000	0.030	2564	2789	3859	0	0	0	0	0	0
1600	-0.66	-219.0	219.5	-14.5	206	1602	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2789	3859	0	0	0	0	0	0
1728	-0.66	-219.0	237.9	-14.4	218	1729	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2788	3858	0	0	0	0	0	0
1855	-0.66	-219.0	255.8	-14.2	230	1857	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2789	3858	0	0	0	0	0	0
2048	-0.66	-219.0	282.3	-13.5	248	2049	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2789	3858	0	0	0	0	0	0
2238	-0.66	-219.0	307.7	-13.3	266	2242	0.00	1.60	0.00	0.000	4	0.000	0.052	2563	3769	3858	0	0	0	0	0	0
2272	-0.66	-219.0	312.3	-13.6	269	2276	0.00	1.52	0.00	0.000	6	0.000	0.031	2563	2792	3858	0	0	0	0	0	0
2478	-0.68	-219.0	339.0	-12.8	288	2484	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2792	3858	0	0	0	0	0	0
2677	-0.71	-219.0	364.8	-12.6	307	2680	0.00	1.58	0.00	0.000	4	0.000	0.052	2563	3758	3858	0	0	0	0	0	0
2723	-0.75	-219.0	370.9	-13.1	311	2726	0.00	1.50	0.00	0.000	6	0.000	0.031	2563	2795	3858	0	0	0	0	0	0
2926	-0.78	-219.0	396.9	-12.8	330	2928	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2795	3858	0	0	0	0	0	0
3119	-0.81	-219.0	421.2	-12.5	348	3120	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2795	3858	0	0	0	0	0	0
3308	-0.84	-219.0	445.2	-12.8	366	3312	0.00	1.58	0.00	0.000	4	0.000	0.052	2563	3763	3858	0	0	0	0	0	0
3358	-0.89	-219.0	451.8	-12.5	370	3366	0.10	1.50	0.00	0.000	6	0.072	0.031	2508	2800	3858	0	0	0	0	0	0
3557	-0.83	-219.0	483.8	-16.6	389	3558	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2800	3858	0	0	0	0	0	0
3652	end dive: TARGET_DEPTH_EXCEEDED
state	3652	begin apogee
3657	-0.16	0.0	500.2	17.2	398	3844	0.70	0.00	176.80	0.991	4	0.132	0.000	2739	2685	2959	0	0	0	0	0	0
3844	end apogee: CONTROL_FINISHED_OK
state	3845	begin climb
3847	0.84	219.0	510.3	0.0	404	4045	0.95	0.00	187.80	0.941	6	0.080	0.000	3062	2685	2065	0	0	0	0	0	0
4235	0.76	219.0	467.7	14.5	429	4239	0.00	1.85	0.00	0.000	4	0.000	0.048	3062	3762	2054	0	0	0	0	0	0
4296	0.63	219.0	457.2	17.2	434	4304	0.20	1.73	0.00	0.000	6	0.135	0.031	3009	2724	2052	0	0	1	0	0	0
4497	0.71	279.3	434.8	10.9	453	4558	0.00	1.85	51.92	0.909	4	0.000	0.052	3009	3760	1821	0	0	1	0	0	0
4585	0.72	293.0	424.2	12.8	461	4604	0.00	1.75	13.50	0.848	6	0.000	0.031	3014	2713	1765	0	0	1	0	0	0
4797	0.83	340.5	400.5	11.4	481	4845	0.15	0.00	42.95	0.889	6	0.083	0.000	3089	2712	1571	0	0	0	0	0	0
5039	0.80	340.5	359.4	17.4	504	5043	0.12	1.77	0.00	0.000	4	0.152	0.050	3055	3764	1565	0	0	1	0	0	0
5065	0.78	340.5	354.2	16.5	506	5072	0.00	1.70	0.00	0.000	6	0.000	0.031	3062	2726	1565	0	0	1	0	0	0
5263	0.78	340.5	325.9	14.2	525	5264	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2727	1563	0	0	0	0	0	0
5454	0.78	340.5	298.5	14.1	543	5455	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2727	1562	0	0	0	0	0	0
5645	0.78	340.5	270.8	15.0	561	5646	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2727	1562	0	0	0	0	0	0
5836	0.78	340.5	243.5	13.9	579	5838	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2726	1562	0	0	0	0	0	0
5964	0.78	340.5	225.4	14.2	591	5965	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2727	1561	0	0	0	0	0	0
6091	0.78	340.5	207.2	14.3	603	6092	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2727	1562	0	0	0	0	0	0
6219	0.78	340.5	188.9	15.0	615	6222	0.00	1.67	0.00	0.000	4	0.000	0.050	3062	3765	1561	0	0	0	0	0	0
6253	0.78	340.5	183.5	16.5	618	6257	0.00	1.65	0.00	0.000	6	0.000	0.032	3068	2702	1561	0	0	0	0	0	0
6392	0.78	340.5	160.7	16.7	631	6393	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2701	1561	0	0	0	0	0	0
6520	0.78	340.5	140.2	15.8	643	6521	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2701	1560	0	0	0	0	0	0
6647	0.78	340.5	119.6	16.2	655	6649	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2701	1560	0	0	0	0	0	0
6775	0.78	340.5	100.0	15.4	667	6776	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2701	1560	0	0	0	0	0	0
6909	0.78	340.5	79.7	15.9	690	6916	0.00	1.75	0.00	0.000	4	0.000	0.050	3068	3787	1560	0	0	0	0	0	0
6945	0.74	340.5	73.6	17.8	696	6953	0.08	1.67	0.00	0.000	6	0.139	0.031	3037	2732	1560	0	0	0	0	0	0
7089	0.79	340.5	53.7	13.5	721	7095	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2732	1560	0	0	0	0	0	0
7232	0.84	340.5	32.2	15.5	746	7238	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2732	1560	0	0	0	0	0	0
7375	0.98	413.8	14.0	10.3	771	7430	0.22	0.00	52.58	0.705	2	0.064	0.000	3135	2731	1300	0	0	0	0	0	0
7431	end climb: SURFACE_DEPTH_REACHED
state	7431	begin surface coast
7444	end surface coast: FINISH_DEPTH_REACHED
state	7444	begin surface