Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 325 * 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 325 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 34 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 22 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 400 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 400 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 34 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 325 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 010817,102520,5951.6431,-17140.9883,5,0.8,16,8.0,0.0,55.8,10,5.0 TGT_NAME W5N

_CALLS 1 TGT_LATLONG 5958.680,-17244.760

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.339039,-0.019614

_SM_DEPTHo 1.02 KALMAN_X 41294.367188,-2062.564697,-719.300537,-109905.562500,69.018921

_SM_ANGLEo -46.2 KALMAN_Y 20461.646484,1693.690796,476.184753,44709.695312,107.098877

GPS2 010817,103206,5951.6836,-17140.9062,6,0.8,18,8.0,0.3,20.9,10,4.8 MHEAD_RNG_PITCHd_Wd 258.7,60570,-11.3,-9.091,-14.99,6428

SPEED_LIMITS 0.157,0.340 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.5,1.024080,106 _10V_AH 10.27,9.981

FINISH2 0.2 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5955.74,-17228.01,010817,091103 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.205226 MEM 329396

HUMID 50.19 DATA_FILE_SIZE 14341,159

INTERNAL_PRESSURE 10.2188 CAP_FILE_SIZE 37272,0

TCM_TEMP 3.80 CFSIZE 1024409600,1003520000

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

_24V_AH 24.07,7.891 GPS 010817,103206,5951.684,-17140.906,6,0.8,18,8.0,0.3,20.9,10,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 110 93.20 SBE_CT 107 24 62.18

Roll_motor 25 1304 788.80 AA4831 432 33 343.15

VBD_pump_during_apogee 51 1273 1592.71 WL_blue_red_Chl 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 506 17 217.10

VBD_valve 0 0 0.00 SAT1001 662 17 284.03

Iridium_during_init 24 103 60.69 nil 0 0 0.00

Iridium_during_connect 19 160 73.89 nil 0 0 0.00

Iridium_during_xfer 249 223 1340.06 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 10.27

TT8 438 19 89.25

LPSleep 0 0 0.00

TT8_Active 151 19 30.72

TT8_Sampling 978 39 399.98

TT8_CF8 95 45 44.81

TT8_Kalman 33 81 28.13

Analog_circuits 441 12 54.39

GPS_charging 0 0 0.00

Compass 242 15 37.33

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 5 begin dive

8 -1.61 -390.0 230 1881 2029 4091 0.0 0.0 0 21 11.05 0.00 0.00 0.000 2049 0.110 0.000 1137 1881 2029 2029 4095 0 0 0 0 0 0 26.19 28.83 28.83 10.25 49.25

23 -1.61 -390.0 1136 1881 2030 4095 1.0 0.0 1 51 7.72 2.38 -8.57 0.000 18948 0.061 1.301 1839 1054 2960 2960 4094 0 0 0 0 0 0 25.94 24.81 25.98 10.26 49.44

93 -1.61 -390.0 1838 1054 2961 4094 4.7 -12.0 10 101 0.00 2.15 0.00 0.000 1030 0.000 0.029 1839 1906 2961 2961 4094 0 0 0 0 0 0 25.82 25.79 25.84 10.46 49.09

138 -1.61 -390.0 1838 1906 2962 4094 10.5 -13.0 16 147 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1906 2962 2962 4095 0 0 0 0 0 0 26.10 26.12 26.12 10.46 49.13

183 -1.61 -390.0 1838 1906 2963 4095 16.6 -13.3 22 191 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1906 2963 2963 4094 0 0 0 0 0 0 26.16 26.17 26.17 10.46 48.26

227 -1.61 -390.0 1838 1907 2964 4094 21.7 -11.1 28 236 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1907 2964 2964 4095 0 0 0 0 0 0 26.20 26.22 26.22 10.45 48.07

271 -1.61 -390.0 1838 1909 2964 4095 26.1 -10.1 34 280 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1909 2965 2965 4095 0 0 0 0 0 0 26.25 26.26 26.26 10.42 47.75

316 -1.61 -390.0 1838 1909 2965 4095 30.7 -10.4 40 324 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1910 2965 2965 4095 0 0 0 0 0 0 26.29 26.30 26.29 10.40 46.61

360 -1.61 -390.0 1838 1910 2966 4095 35.0 -9.7 46 369 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1910 2966 2966 4095 0 0 0 0 0 0 26.32 26.34 26.33 10.38 46.22

404 -1.61 -390.0 1838 1910 2967 4095 39.5 -10.4 52 414 0.00 2.28 0.00 0.000 260 0.000 0.055 1839 2759 2967 2967 4095 0 0 0 0 0 0 26.35 26.03 26.36 10.37 45.78

462 -1.61 -390.0 1838 2758 2968 4095 45.9 -11.1 60 472 0.00 2.15 0.00 0.000 1030 0.000 0.030 1839 1915 2968 2968 4095 0 0 0 0 0 0 26.15 26.11 26.18 10.36 44.36

508 -1.61 -390.0 1838 1916 2969 4095 50.9 -11.4 66 517 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1916 2969 2969 4095 0 0 0 0 0 0 26.41 26.42 26.42 10.35 44.72

552 -1.61 -390.0 1838 1916 2970 4095 56.0 -11.6 72 561 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1915 2970 2970 4095 0 0 0 0 0 0 26.44 26.45 26.44 10.35 44.13

588 end dive: TARGET_DEPTH_EXCEEDED

state 588 begin apogee

593 -0.45 0.0 1839 2042 2971 4095 60.3 -11.4 77 628 3.97 0.00 23.15 1.274 10244 0.058 0.000 2206 2042 2499 2499 4094 0 0 0 0 0 0 26.17 25.20 24.53 10.34 44.36

629 end apogee: CONTROL_FINISHED_OK

state 629 begin climb

631 1.61 390.0 2205 2042 2499 4094 62.7 0.0 81 668 6.97 2.20 22.73 1.253 10500 0.036 0.057 2868 2848 2044 2044 4094 0 0 0 0 0 0 25.63 25.54 24.07 10.24 44.48

717 1.61 390.0 2867 2848 2043 4094 55.9 11.8 92 726 0.00 2.17 0.00 0.000 1030 0.000 0.030 2868 2022 2043 2043 4094 0 0 0 0 0 0 25.44 25.40 25.46 10.14 43.50

762 1.61 390.0 2867 2021 2042 4094 50.5 11.8 98 771 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2022 2042 2042 4094 0 0 0 0 0 0 25.79 25.81 25.80 10.13 43.85

806 1.61 390.0 2867 2021 2041 4094 45.0 12.4 104 816 0.00 2.40 0.00 0.000 516 0.000 0.067 2868 1153 2041 2041 4094 0 0 0 0 0 0 25.90 25.60 25.91 10.12 43.50

853 1.61 390.0 2867 1152 2039 4094 39.2 12.9 110 862 0.00 2.10 0.00 0.000 1030 0.000 0.028 2867 1984 2039 2039 4095 0 0 0 0 0 0 25.76 25.75 25.80 10.11 44.64

898 1.61 390.0 2867 1984 2038 4095 33.5 12.3 116 907 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 1984 2038 2038 4094 0 0 0 0 0 0 26.06 26.06 26.06 10.11 44.40

942 1.61 390.0 2867 1983 2037 4094 28.0 12.5 122 951 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 1984 2037 2037 4094 0 0 0 0 0 0 26.11 26.13 26.12 10.11 44.40

987 1.61 390.0 2867 1984 2035 4094 22.7 11.8 128 995 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 1984 2035 2035 4094 0 0 0 0 0 0 26.16 26.17 26.17 10.12 44.95

1031 1.61 390.0 2867 1985 2035 4094 17.6 11.5 134 1040 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 1985 2034 2034 4094 0 0 0 0 0 0 26.21 26.22 26.22 10.15 45.66

1075 1.61 390.0 2867 1985 2034 4094 12.9 9.9 140 1084 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 1986 2034 2034 4094 0 0 0 0 0 0 26.25 26.26 26.26 10.18 47.04

1120 1.61 390.0 2867 1986 2032 4094 8.5 9.7 146 1129 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 1986 2032 2032 4095 0 0 0 0 0 0 26.28 26.29 26.29 10.19 48.70

1164 1.76 487.5 2867 1986 2030 4095 5.0 7.5 152 1184 0.30 2.30 6.07 0.521 10756 0.046 0.068 2901 1146 1930 1930 4094 0 0 0 0 0 0 26.06 25.91 25.32 10.21 49.13

1204 end climb: FINISH_DEPTH_REACHED

state 1205 begin subsurface finish

1213 0.16 105.9 2901 2024 1929 4094 1.5 8.7 157 1232 5.12 2.53 -3.97 0.000 20996 0.035 1.304 2410 1152 2380 2380 4094 0 0 0 0 0 0 26.06 24.90 26.10 10.19 48.74

1233 end subsurface finish: CONTROL_FINISHED_OK

state 1233 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	325	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	34	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	22	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	400	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	010817,102520,5951.6431,-17140.9883,5,0.8,16,8.0,0.0,55.8,10,5.0	TGT_NAME	W5N
_CALLS	1	TGT_LATLONG	5958.680,-17244.760
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.339039,-0.019614
_SM_DEPTHo	1.02	KALMAN_X	41294.367188,-2062.564697,-719.300537,-109905.562500,69.018921
_SM_ANGLEo	-46.2	KALMAN_Y	20461.646484,1693.690796,476.184753,44709.695312,107.098877
GPS2	010817,103206,5951.6836,-17140.9062,6,0.8,18,8.0,0.3,20.9,10,4.8	MHEAD_RNG_PITCHd_Wd	258.7,60570,-11.3,-9.091,-14.99,6428
SPEED_LIMITS	0.157,0.340	D_GRID	60

FINISH1	1.5,1.024080,106	_10V_AH	10.27,9.981
FINISH2	0.2	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5955.74,-17228.01,010817,091103	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.205226	MEM	329396
HUMID	50.19	DATA_FILE_SIZE	14341,159
INTERNAL_PRESSURE	10.2188	CAP_FILE_SIZE	37272,0
TCM_TEMP	3.80	CFSIZE	1024409600,1003520000
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
_24V_AH	24.07,7.891	GPS	010817,103206,5951.684,-17140.906,6,0.8,18,8.0,0.3,20.9,10,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	110	93.20	SBE_CT	107	24	62.18
Roll_motor	25	1304	788.80	AA4831	432	33	343.15
VBD_pump_during_apogee	51	1273	1592.71	WL_blue_red_Chl	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	506	17	217.10
VBD_valve	0	0	0.00	SAT1001	662	17	284.03
Iridium_during_init	24	103	60.69	nil	0	0	0.00
Iridium_during_connect	19	160	73.89	nil	0	0	0.00
Iridium_during_xfer	249	223	1340.06	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	10.27
TT8	438	19	89.25
LPSleep	0	0	0.00
TT8_Active	151	19	30.72
TT8_Sampling	978	39	399.98
TT8_CF8	95	45	44.81
TT8_Kalman	33	81	28.13
Analog_circuits	441	12	54.39
GPS_charging	0	0	0.00
Compass	242	15	37.33
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	5	begin dive
8	-1.61	-390.0	230	1881	2029	4091	0.0	0.0	0	21	11.05	0.00	0.00	0.000	2049	0.110	0.000	1137	1881	2029	2029	4095	0	0	0	0	0	0	26.19	28.83	28.83	10.25	49.25
23	-1.61	-390.0	1136	1881	2030	4095	1.0	0.0	1	51	7.72	2.38	-8.57	0.000	18948	0.061	1.301	1839	1054	2960	2960	4094	0	0	0	0	0	0	25.94	24.81	25.98	10.26	49.44
93	-1.61	-390.0	1838	1054	2961	4094	4.7	-12.0	10	101	0.00	2.15	0.00	0.000	1030	0.000	0.029	1839	1906	2961	2961	4094	0	0	0	0	0	0	25.82	25.79	25.84	10.46	49.09
138	-1.61	-390.0	1838	1906	2962	4094	10.5	-13.0	16	147	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1906	2962	2962	4095	0	0	0	0	0	0	26.10	26.12	26.12	10.46	49.13
183	-1.61	-390.0	1838	1906	2963	4095	16.6	-13.3	22	191	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1906	2963	2963	4094	0	0	0	0	0	0	26.16	26.17	26.17	10.46	48.26
227	-1.61	-390.0	1838	1907	2964	4094	21.7	-11.1	28	236	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1907	2964	2964	4095	0	0	0	0	0	0	26.20	26.22	26.22	10.45	48.07
271	-1.61	-390.0	1838	1909	2964	4095	26.1	-10.1	34	280	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1909	2965	2965	4095	0	0	0	0	0	0	26.25	26.26	26.26	10.42	47.75
316	-1.61	-390.0	1838	1909	2965	4095	30.7	-10.4	40	324	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1910	2965	2965	4095	0	0	0	0	0	0	26.29	26.30	26.29	10.40	46.61
360	-1.61	-390.0	1838	1910	2966	4095	35.0	-9.7	46	369	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1910	2966	2966	4095	0	0	0	0	0	0	26.32	26.34	26.33	10.38	46.22
404	-1.61	-390.0	1838	1910	2967	4095	39.5	-10.4	52	414	0.00	2.28	0.00	0.000	260	0.000	0.055	1839	2759	2967	2967	4095	0	0	0	0	0	0	26.35	26.03	26.36	10.37	45.78
462	-1.61	-390.0	1838	2758	2968	4095	45.9	-11.1	60	472	0.00	2.15	0.00	0.000	1030	0.000	0.030	1839	1915	2968	2968	4095	0	0	0	0	0	0	26.15	26.11	26.18	10.36	44.36
508	-1.61	-390.0	1838	1916	2969	4095	50.9	-11.4	66	517	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1916	2969	2969	4095	0	0	0	0	0	0	26.41	26.42	26.42	10.35	44.72
552	-1.61	-390.0	1838	1916	2970	4095	56.0	-11.6	72	561	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1915	2970	2970	4095	0	0	0	0	0	0	26.44	26.45	26.44	10.35	44.13
588	end dive: TARGET_DEPTH_EXCEEDED
state	588	begin apogee
593	-0.45	0.0	1839	2042	2971	4095	60.3	-11.4	77	628	3.97	0.00	23.15	1.274	10244	0.058	0.000	2206	2042	2499	2499	4094	0	0	0	0	0	0	26.17	25.20	24.53	10.34	44.36
629	end apogee: CONTROL_FINISHED_OK
state	629	begin climb
631	1.61	390.0	2205	2042	2499	4094	62.7	0.0	81	668	6.97	2.20	22.73	1.253	10500	0.036	0.057	2868	2848	2044	2044	4094	0	0	0	0	0	0	25.63	25.54	24.07	10.24	44.48
717	1.61	390.0	2867	2848	2043	4094	55.9	11.8	92	726	0.00	2.17	0.00	0.000	1030	0.000	0.030	2868	2022	2043	2043	4094	0	0	0	0	0	0	25.44	25.40	25.46	10.14	43.50
762	1.61	390.0	2867	2021	2042	4094	50.5	11.8	98	771	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2022	2042	2042	4094	0	0	0	0	0	0	25.79	25.81	25.80	10.13	43.85
806	1.61	390.0	2867	2021	2041	4094	45.0	12.4	104	816	0.00	2.40	0.00	0.000	516	0.000	0.067	2868	1153	2041	2041	4094	0	0	0	0	0	0	25.90	25.60	25.91	10.12	43.50
853	1.61	390.0	2867	1152	2039	4094	39.2	12.9	110	862	0.00	2.10	0.00	0.000	1030	0.000	0.028	2867	1984	2039	2039	4095	0	0	0	0	0	0	25.76	25.75	25.80	10.11	44.64
898	1.61	390.0	2867	1984	2038	4095	33.5	12.3	116	907	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	1984	2038	2038	4094	0	0	0	0	0	0	26.06	26.06	26.06	10.11	44.40
942	1.61	390.0	2867	1983	2037	4094	28.0	12.5	122	951	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	1984	2037	2037	4094	0	0	0	0	0	0	26.11	26.13	26.12	10.11	44.40
987	1.61	390.0	2867	1984	2035	4094	22.7	11.8	128	995	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	1984	2035	2035	4094	0	0	0	0	0	0	26.16	26.17	26.17	10.12	44.95
1031	1.61	390.0	2867	1985	2035	4094	17.6	11.5	134	1040	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	1985	2034	2034	4094	0	0	0	0	0	0	26.21	26.22	26.22	10.15	45.66
1075	1.61	390.0	2867	1985	2034	4094	12.9	9.9	140	1084	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	1986	2034	2034	4094	0	0	0	0	0	0	26.25	26.26	26.26	10.18	47.04
1120	1.61	390.0	2867	1986	2032	4094	8.5	9.7	146	1129	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	1986	2032	2032	4095	0	0	0	0	0	0	26.28	26.29	26.29	10.19	48.70
1164	1.76	487.5	2867	1986	2030	4095	5.0	7.5	152	1184	0.30	2.30	6.07	0.521	10756	0.046	0.068	2901	1146	1930	1930	4094	0	0	0	0	0	0	26.06	25.91	25.32	10.21	49.13
1204	end climb: FINISH_DEPTH_REACHED
state	1205	begin subsurface finish
1213	0.16	105.9	2901	2024	1929	4094	1.5	8.7	157	1232	5.12	2.53	-3.97	0.000	20996	0.035	1.304	2410	1152	2380	2380	4094	0	0	0	0	0	0	26.06	24.90	26.10	10.19	48.74
1233	end subsurface finish: CONTROL_FINISHED_OK
state	1233	begin surface