Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 157 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.013 ROLL_MAX 3888 ALTIM_BOTTOM_PING_RANGE 0

MISSION 22 HD_C 2.4999999e-05 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

DIVE 157 HEADING -1 C_ROLL_DIVE 1900 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2020 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 25 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 0

D_FLARE 0 TGT_DEFAULT_LAT 5650 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 60 TGT_DEFAULT_LON -16401 R_PORT_OVSHOOT 25 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 25 ALTIM_PULSE 2

D_NO_BLEED 200 SM_CC 300 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 4

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

D_FINISH 2 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 53 INT_PRESSURE_YINT -1.1

D_SAFE 0 PROTOCOL 9 VBD_MAX 4044 DEEPGLIDER 2

D_CALL 0 N_NOCOMM 1 C_VBD 2501 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE -3 VBD_CNV -0.85860002 DEVICE2 165

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 2 DEVICE3 115

T_DIVE 22 CALL_TRIES 10 VBD_TIMEOUT 180 DEVICE4 134

T_MISSION 32 CALL_WAIT 45 PITCH_VBD_SHIFT 0.0015 DEVICE5 151

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 6 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50945 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2360 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 450 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044153114

COURSE_BIAS 0 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00064861565

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.6621732e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.3947326e-06

RHO 1.0256 PITCH_GAIN 11 PHONE_SUPPLY 2 SEABIRD_C_G -10.162049

MASS 73198 PITCH_TIMEOUT 50 PRESSURE_YINT -50.9827 SEABIRD_C_H 1.142972

MASS_COMP 0 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_I -0.0032838252

NAV_MODE 1 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00030784801

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 0

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 200 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 300

AH0_24V 150 D_TGT 60 PITCH_AD_RATE 70 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 11 FERRY_MAX 45 PITCH_GAIN 11 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3693 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_MIN 220 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0015 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 5650

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -16401

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 3.2755801e-05 T_ABORT 1440

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -50.9827 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 22

CALL_WAIT 45 HEAD_ERRBAND 25 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 401 RAFOS_DEVICE -1 T_MISSION 32

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.1 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 33 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.0256 T_TURN_SAMPINT 6

C_PITCH 2360 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_ROLL_CLIMB 2020 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_DIVE 1900 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2501 MASS 73198 ROLL_CNV 0.04555 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MAXERRORS 2 VBD_CNV -0.85860002

DEVICE2 165 MAX_BUOY 450 ROLL_MIN 200 VBD_DBAND 2

DEVICE3 115 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE4 134 MINV_24V 19 R_PORT_OVSHOOT 25 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 157 NAV_MODE 1 SEABIRD_C_H 1.142972 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 200 NOCOMM_ACTION 0 SEABIRD_C_I -0.0032838252 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00030784801 VBD_TIMEOUT 180

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 0 W_ADJ_DBAND 0

D_FINISH 2 N_GPS 50945 SEABIRD_T_G 0.0044153114 XPDR_DEVICE 24

D_FLARE 0 N_NOCOMM 1 SEABIRD_T_H 0.00064861565 XPDR_INHIBIT 90

D_NO_BLEED 200 N_NOSURFACE -3 SEABIRD_T_I 2.6621732e-05 XPDR_VALID 4

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.3947326e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 290717,111721,5934.2363,-17052.2402,4,0.7,21,8.4,0.3,96.4,11,4.9 TGT_NAME W2N

_CALLS 1 TGT_LATLONG 5935.700,-17055.381

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.310421,0.174713

_SM_DEPTHo 0.88 KALMAN_X 22520.529297,-749.396240,53.379967,-47072.421875,216.826294

_SM_ANGLEo -42.2 KALMAN_Y 5380.975586,2265.152588,1105.074951,26264.466797,-57.438477

GPS2 290717,112402,5934.2261,-17052.1523,6,0.8,31,8.4,0.8,84.1,9,4.7 MHEAD_RNG_PITCHd_Wd 291.0,4076,-10.5,-9.091,-14.32,7212

SPEED_LIMITS 0.157,0.356 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.6,1.025600,0 _10V_AH 10.56,5.505

FINISH2 0.2 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5955.74,-17228.01,290717,100229 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.084637 MEM 329440

HUMID 49.64 DATA_FILE_SIZE 14278,199

INTERNAL_PRESSURE 10.2188 CAP_FILE_SIZE 42362,0

TCM_TEMP 3.40 CFSIZE 1024409600,1011777536

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

_24V_AH 24.01,3.948 GPS 290717,112402,5934.226,-17052.152,6,0.8,31,8.4,0.8,84.1,9,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 107 92.19 SBE_CT 0 0 0.00

Roll_motor 16 1311 510.31 AA4831 0 0 0.00

VBD_pump_during_apogee 57 1287 1768.98 WL_blue_red_Chl 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 0 0 0.00

VBD_valve 0 0 0.00 SAT1001 0 0 0.00

Iridium_during_init 24 103 60.55 nil 0 0 0.00

Iridium_during_connect 27 160 105.51 nil 0 0 0.00

Iridium_during_xfer 229 223 1230.18 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 17.02

TT8 441 19 92.30

LPSleep 332 2 7.68

TT8_Active 169 19 35.53

TT8_Sampling 611 39 256.90

TT8_CF8 88 45 42.74

TT8_Kalman 33 81 28.92

Analog_circuits 404 12 51.30

GPS_charging 0 0 0.00

Compass 298 15 47.26

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -1.61 -438.8 230 1894 1973 4092 0.0 0.0 0 17 7.30 0.00 0.00 0.000 2049 0.107 0.000 834 1895 1973 1973 4094 0 0 0 0 0 0 26.18 28.83 28.83 10.24 49.60

19 -1.61 -438.8 833 1894 1973 4094 0.8 0.0 1 47 11.15 0.00 -9.73 0.000 18950 0.067 0.000 1835 1895 3015 3015 4094 0 0 0 0 0 0 25.91 25.49 25.95 10.24 49.68

78 -1.61 -438.8 1834 1894 3014 4094 0.4 -1.3 11 83 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1895 3015 3015 4094 0 0 0 0 0 0 26.11 26.13 26.13 10.47 49.88

114 -1.61 -438.8 1834 1894 3017 4094 4.3 -11.3 17 119 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1894 3016 3016 4095 0 0 0 0 0 0 26.15 26.17 26.17 10.47 48.85

150 -1.61 -438.8 1834 1894 3018 4095 9.7 -14.9 23 155 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1895 3017 3017 4095 0 0 0 0 0 0 26.20 26.21 26.20 10.48 48.62

186 -1.61 -438.8 1834 1894 3018 4095 15.0 -14.4 29 192 0.00 2.35 0.00 0.000 260 0.000 0.057 1835 2764 3018 3018 4095 0 0 0 0 0 0 26.23 25.91 26.24 10.47 48.30

210 -1.61 -438.8 1835 2764 3018 4095 18.7 -14.6 33 217 0.00 2.17 0.00 0.000 1030 0.000 0.031 1835 1905 3018 3018 4094 0 0 0 0 0 0 26.06 25.98 26.08 10.45 49.01

248 -1.61 -438.8 1834 1905 3019 4094 22.7 -10.5 39 253 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3019 3019 4095 0 0 0 0 0 0 26.28 26.29 26.29 10.41 47.55

284 -1.61 -438.8 1834 1904 3020 4095 26.9 -11.9 45 289 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3020 3020 4095 0 0 0 0 0 0 26.30 26.32 26.32 10.39 46.73

320 -1.61 -438.8 1834 1905 3021 4095 31.0 -10.8 51 325 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3020 3020 4094 0 0 0 0 0 0 26.33 26.34 26.34 10.38 46.22

356 -1.61 -438.8 1834 1905 3022 4094 35.2 -11.6 57 361 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3022 3022 4095 0 0 0 0 0 0 26.35 26.36 26.36 10.38 45.90

392 -1.61 -438.8 1834 1905 3022 4095 39.2 -10.9 63 397 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3023 3023 4094 0 0 0 0 0 0 26.37 26.39 26.39 10.37 45.27

428 -1.61 -438.8 1834 1905 3023 4094 43.3 -11.2 69 433 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3023 3023 4095 0 0 0 0 0 0 26.39 26.41 26.40 10.36 44.92

464 -1.61 -438.8 1834 1905 3024 4095 47.4 -12.2 75 469 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3024 3024 4095 0 0 0 0 0 0 26.41 26.43 26.43 10.36 44.95

500 -1.61 -438.8 1835 1905 3024 4095 51.6 -11.4 81 505 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3025 3025 4094 0 0 0 0 0 0 26.44 26.45 26.44 10.35 44.52

536 -1.61 -438.8 1834 1905 3025 4094 56.0 -13.5 87 541 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3025 3025 4095 0 0 0 0 0 0 26.45 26.46 26.46 10.34 44.44

570 end dive: TARGET_DEPTH_EXCEEDED

state 570 begin apogee

576 -0.45 0.0 1835 2050 3026 4095 60.2 -11.1 93 609 4.03 0.10 25.42 1.287 10244 0.059 0.084 2206 1997 2500 2500 4094 0 0 0 0 0 0 26.17 25.39 24.52 10.33 45.11

610 end apogee: CONTROL_FINISHED_OK

state 611 begin climb

612 1.61 438.8 2205 1997 2500 4094 62.5 0.0 99 650 7.00 0.00 25.33 1.265 11270 0.039 0.000 2861 1997 1987 1987 4094 0 0 0 0 0 0 25.60 25.75 24.01 10.23 44.40

681 1.61 438.8 2861 1996 1986 4094 57.8 10.3 111 687 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1997 1986 1986 4094 0 0 0 0 0 0 25.48 25.49 25.49 10.11 43.89

717 1.61 438.8 2861 1997 1985 4094 54.2 10.2 117 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1997 1985 1985 4094 0 0 0 0 0 0 25.63 25.65 25.65 10.10 43.54

753 1.61 438.8 2861 1996 1985 4094 50.2 11.1 123 759 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1997 1985 1985 4094 0 0 0 0 0 0 25.75 25.76 25.76 10.10 44.52

789 1.61 438.8 2860 1996 1983 4094 45.8 12.0 129 795 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1997 1983 1983 4094 0 0 0 0 0 0 25.84 25.85 25.85 10.10 44.76

826 1.61 438.8 2861 1996 1983 4094 42.2 9.8 135 831 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1997 1983 1983 4094 0 0 0 0 0 0 25.91 25.92 25.92 10.10 44.99

861 1.61 438.8 2861 1996 1981 4094 38.0 11.1 141 867 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1997 1982 1982 4094 0 0 0 0 0 0 25.98 25.98 25.98 10.09 44.76

898 1.61 438.8 2860 1996 1981 4094 33.3 12.6 147 903 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1997 1981 1981 4094 0 0 0 0 0 0 26.03 26.04 26.04 10.09 45.11

934 1.61 438.8 2861 1996 1980 4094 29.3 11.0 153 939 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1997 1980 1980 4094 0 0 0 0 0 0 26.08 26.09 26.09 10.08 44.72

970 1.61 438.8 2860 1996 1978 4094 25.2 10.9 159 975 0.00 0.00 0.00 0.000 6 0.000 0.000 2860 1997 1979 1979 4094 0 0 0 0 0 0 26.12 26.13 26.13 10.08 44.99

1006 1.61 438.8 2861 1996 1978 4094 21.2 10.8 165 1011 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1997 1978 1978 4094 0 0 0 0 0 0 26.15 26.17 26.17 10.07 45.47

1042 1.61 438.8 2861 1996 1977 4094 17.1 11.1 171 1048 0.00 2.20 0.00 0.000 516 0.000 0.062 2861 1167 1977 1977 4095 0 0 0 0 0 0 26.19 25.86 26.20 10.08 45.62

1079 1.77 540.4 2861 1167 1976 4095 13.9 7.6 177 1092 0.43 2.03 6.47 0.607 11270 0.041 0.029 2906 1990 1869 1869 4094 0 0 0 0 0 0 25.98 25.98 25.19 10.11 46.25

1123 1.77 540.4 2904 1990 1868 4094 10.1 9.3 184 1129 0.00 2.38 0.00 0.000 260 0.000 0.060 2905 2877 1868 1868 4095 0 0 0 0 0 0 26.17 25.85 26.19 10.12 47.83

1172 1.77 540.4 2904 2877 1866 4095 4.4 12.2 192 1178 0.00 2.15 0.00 0.000 1030 0.000 0.031 2905 2033 1866 1866 4094 0 0 0 0 0 0 26.03 25.95 26.05 10.15 49.05

1195 end climb: FINISH_DEPTH_REACHED

state 1195 begin subsurface finish

1200 0.00 0.0 2905 2033 1865 4094 1.6 11.2 196 1218 5.95 2.53 -5.65 0.000 20996 0.070 1.312 2369 1155 2507 2507 4094 0 0 0 0 0 0 25.96 24.91 25.99 10.15 48.93

1219 end subsurface finish: CONTROL_FINISHED_OK

state 1219 begin surface

ID	401	HD_B	0.013	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0
MISSION	22	HD_C	2.4999999e-05	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
DIVE	157	HEADING	-1	C_ROLL_DIVE	1900	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2020	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	25	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	0
D_FLARE	0	TGT_DEFAULT_LAT	5650	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	60	TGT_DEFAULT_LON	-16401	R_PORT_OVSHOOT	25	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	25	ALTIM_PULSE	2
D_NO_BLEED	200	SM_CC	300	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	4
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
D_FINISH	2	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	53	INT_PRESSURE_YINT	-1.1
D_SAFE	0	PROTOCOL	9	VBD_MAX	4044	DEEPGLIDER	2
D_CALL	0	N_NOCOMM	1	C_VBD	2501	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-3	VBD_CNV	-0.85860002	DEVICE2	165
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	2	DEVICE3	115
T_DIVE	22	CALL_TRIES	10	VBD_TIMEOUT	180	DEVICE4	134
T_MISSION	32	CALL_WAIT	45	PITCH_VBD_SHIFT	0.0015	DEVICE5	151
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	6	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50945	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2360	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	450	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044153114
COURSE_BIAS	0	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00064861565
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.6621732e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.3947326e-06
RHO	1.0256	PITCH_GAIN	11	PHONE_SUPPLY	2	SEABIRD_C_G	-10.162049
MASS	73198	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.9827	SEABIRD_C_H	1.142972
MASS_COMP	0	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_I	-0.0032838252
NAV_MODE	1	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00030784801
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	0
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	200	COMPASS_USE	4

GPS1	290717,111721,5934.2363,-17052.2402,4,0.7,21,8.4,0.3,96.4,11,4.9	TGT_NAME	W2N
_CALLS	1	TGT_LATLONG	5935.700,-17055.381
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.310421,0.174713
_SM_DEPTHo	0.88	KALMAN_X	22520.529297,-749.396240,53.379967,-47072.421875,216.826294
_SM_ANGLEo	-42.2	KALMAN_Y	5380.975586,2265.152588,1105.074951,26264.466797,-57.438477
GPS2	290717,112402,5934.2261,-17052.1523,6,0.8,31,8.4,0.8,84.1,9,4.7	MHEAD_RNG_PITCHd_Wd	291.0,4076,-10.5,-9.091,-14.32,7212
SPEED_LIMITS	0.157,0.356	D_GRID	60

FINISH1	1.6,1.025600,0	_10V_AH	10.56,5.505
FINISH2	0.2	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5955.74,-17228.01,290717,100229	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.084637	MEM	329440
HUMID	49.64	DATA_FILE_SIZE	14278,199
INTERNAL_PRESSURE	10.2188	CAP_FILE_SIZE	42362,0
TCM_TEMP	3.40	CFSIZE	1024409600,1011777536
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
_24V_AH	24.01,3.948	GPS	290717,112402,5934.226,-17052.152,6,0.8,31,8.4,0.8,84.1,9,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	107	92.19	SBE_CT	0	0	0.00
Roll_motor	16	1311	510.31	AA4831	0	0	0.00
VBD_pump_during_apogee	57	1287	1768.98	WL_blue_red_Chl	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	0	0	0.00
VBD_valve	0	0	0.00	SAT1001	0	0	0.00
Iridium_during_init	24	103	60.55	nil	0	0	0.00
Iridium_during_connect	27	160	105.51	nil	0	0	0.00
Iridium_during_xfer	229	223	1230.18	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	17.02
TT8	441	19	92.30
LPSleep	332	2	7.68
TT8_Active	169	19	35.53
TT8_Sampling	611	39	256.90
TT8_CF8	88	45	42.74
TT8_Kalman	33	81	28.92
Analog_circuits	404	12	51.30
GPS_charging	0	0	0.00
Compass	298	15	47.26
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-1.61	-438.8	230	1894	1973	4092	0.0	0.0	0	17	7.30	0.00	0.00	0.000	2049	0.107	0.000	834	1895	1973	1973	4094	0	0	0	0	0	0	26.18	28.83	28.83	10.24	49.60
19	-1.61	-438.8	833	1894	1973	4094	0.8	0.0	1	47	11.15	0.00	-9.73	0.000	18950	0.067	0.000	1835	1895	3015	3015	4094	0	0	0	0	0	0	25.91	25.49	25.95	10.24	49.68
78	-1.61	-438.8	1834	1894	3014	4094	0.4	-1.3	11	83	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1895	3015	3015	4094	0	0	0	0	0	0	26.11	26.13	26.13	10.47	49.88
114	-1.61	-438.8	1834	1894	3017	4094	4.3	-11.3	17	119	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1894	3016	3016	4095	0	0	0	0	0	0	26.15	26.17	26.17	10.47	48.85
150	-1.61	-438.8	1834	1894	3018	4095	9.7	-14.9	23	155	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1895	3017	3017	4095	0	0	0	0	0	0	26.20	26.21	26.20	10.48	48.62
186	-1.61	-438.8	1834	1894	3018	4095	15.0	-14.4	29	192	0.00	2.35	0.00	0.000	260	0.000	0.057	1835	2764	3018	3018	4095	0	0	0	0	0	0	26.23	25.91	26.24	10.47	48.30
210	-1.61	-438.8	1835	2764	3018	4095	18.7	-14.6	33	217	0.00	2.17	0.00	0.000	1030	0.000	0.031	1835	1905	3018	3018	4094	0	0	0	0	0	0	26.06	25.98	26.08	10.45	49.01
248	-1.61	-438.8	1834	1905	3019	4094	22.7	-10.5	39	253	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3019	3019	4095	0	0	0	0	0	0	26.28	26.29	26.29	10.41	47.55
284	-1.61	-438.8	1834	1904	3020	4095	26.9	-11.9	45	289	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3020	3020	4095	0	0	0	0	0	0	26.30	26.32	26.32	10.39	46.73
320	-1.61	-438.8	1834	1905	3021	4095	31.0	-10.8	51	325	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3020	3020	4094	0	0	0	0	0	0	26.33	26.34	26.34	10.38	46.22
356	-1.61	-438.8	1834	1905	3022	4094	35.2	-11.6	57	361	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3022	3022	4095	0	0	0	0	0	0	26.35	26.36	26.36	10.38	45.90
392	-1.61	-438.8	1834	1905	3022	4095	39.2	-10.9	63	397	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3023	3023	4094	0	0	0	0	0	0	26.37	26.39	26.39	10.37	45.27
428	-1.61	-438.8	1834	1905	3023	4094	43.3	-11.2	69	433	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3023	3023	4095	0	0	0	0	0	0	26.39	26.41	26.40	10.36	44.92
464	-1.61	-438.8	1834	1905	3024	4095	47.4	-12.2	75	469	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3024	3024	4095	0	0	0	0	0	0	26.41	26.43	26.43	10.36	44.95
500	-1.61	-438.8	1835	1905	3024	4095	51.6	-11.4	81	505	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3025	3025	4094	0	0	0	0	0	0	26.44	26.45	26.44	10.35	44.52
536	-1.61	-438.8	1834	1905	3025	4094	56.0	-13.5	87	541	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3025	3025	4095	0	0	0	0	0	0	26.45	26.46	26.46	10.34	44.44
570	end dive: TARGET_DEPTH_EXCEEDED
state	570	begin apogee
576	-0.45	0.0	1835	2050	3026	4095	60.2	-11.1	93	609	4.03	0.10	25.42	1.287	10244	0.059	0.084	2206	1997	2500	2500	4094	0	0	0	0	0	0	26.17	25.39	24.52	10.33	45.11
610	end apogee: CONTROL_FINISHED_OK
state	611	begin climb
612	1.61	438.8	2205	1997	2500	4094	62.5	0.0	99	650	7.00	0.00	25.33	1.265	11270	0.039	0.000	2861	1997	1987	1987	4094	0	0	0	0	0	0	25.60	25.75	24.01	10.23	44.40
681	1.61	438.8	2861	1996	1986	4094	57.8	10.3	111	687	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1997	1986	1986	4094	0	0	0	0	0	0	25.48	25.49	25.49	10.11	43.89
717	1.61	438.8	2861	1997	1985	4094	54.2	10.2	117	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1997	1985	1985	4094	0	0	0	0	0	0	25.63	25.65	25.65	10.10	43.54
753	1.61	438.8	2861	1996	1985	4094	50.2	11.1	123	759	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1997	1985	1985	4094	0	0	0	0	0	0	25.75	25.76	25.76	10.10	44.52
789	1.61	438.8	2860	1996	1983	4094	45.8	12.0	129	795	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1997	1983	1983	4094	0	0	0	0	0	0	25.84	25.85	25.85	10.10	44.76
826	1.61	438.8	2861	1996	1983	4094	42.2	9.8	135	831	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1997	1983	1983	4094	0	0	0	0	0	0	25.91	25.92	25.92	10.10	44.99
861	1.61	438.8	2861	1996	1981	4094	38.0	11.1	141	867	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1997	1982	1982	4094	0	0	0	0	0	0	25.98	25.98	25.98	10.09	44.76
898	1.61	438.8	2860	1996	1981	4094	33.3	12.6	147	903	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1997	1981	1981	4094	0	0	0	0	0	0	26.03	26.04	26.04	10.09	45.11
934	1.61	438.8	2861	1996	1980	4094	29.3	11.0	153	939	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1997	1980	1980	4094	0	0	0	0	0	0	26.08	26.09	26.09	10.08	44.72
970	1.61	438.8	2860	1996	1978	4094	25.2	10.9	159	975	0.00	0.00	0.00	0.000	6	0.000	0.000	2860	1997	1979	1979	4094	0	0	0	0	0	0	26.12	26.13	26.13	10.08	44.99
1006	1.61	438.8	2861	1996	1978	4094	21.2	10.8	165	1011	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1997	1978	1978	4094	0	0	0	0	0	0	26.15	26.17	26.17	10.07	45.47
1042	1.61	438.8	2861	1996	1977	4094	17.1	11.1	171	1048	0.00	2.20	0.00	0.000	516	0.000	0.062	2861	1167	1977	1977	4095	0	0	0	0	0	0	26.19	25.86	26.20	10.08	45.62
1079	1.77	540.4	2861	1167	1976	4095	13.9	7.6	177	1092	0.43	2.03	6.47	0.607	11270	0.041	0.029	2906	1990	1869	1869	4094	0	0	0	0	0	0	25.98	25.98	25.19	10.11	46.25
1123	1.77	540.4	2904	1990	1868	4094	10.1	9.3	184	1129	0.00	2.38	0.00	0.000	260	0.000	0.060	2905	2877	1868	1868	4095	0	0	0	0	0	0	26.17	25.85	26.19	10.12	47.83
1172	1.77	540.4	2904	2877	1866	4095	4.4	12.2	192	1178	0.00	2.15	0.00	0.000	1030	0.000	0.031	2905	2033	1866	1866	4094	0	0	0	0	0	0	26.03	25.95	26.05	10.15	49.05
1195	end climb: FINISH_DEPTH_REACHED
state	1195	begin subsurface finish
1200	0.00	0.0	2905	2033	1865	4094	1.6	11.2	196	1218	5.95	2.53	-5.65	0.000	20996	0.070	1.312	2369	1155	2507	2507	4094	0	0	0	0	0	0	25.96	24.91	25.99	10.15	48.93
1219	end subsurface finish: CONTROL_FINISHED_OK
state	1219	begin surface