Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 464 * 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 20 ALTIM_TOP_PING_RANGE 0

DIVE 464 HEADING -1 C_ROLL_DIVE 1950 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 1950 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 39 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 2485 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 24 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 2340 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 600 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 20 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 20 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 24

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 2340 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_ROLL_CLIMB 1950 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_DIVE 1950 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2485 MASS 73198 ROLL_CNV 0.04555 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_DEG 20 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 600 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 39 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 464 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 040817,002923,6000.7510,-17234.8594,3,0.8,15,7.6,0.0,50.3,11,4.9 TGT_NAME W5N

_CALLS 1 TGT_LATLONG 5958.680,-17244.760

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.319043,-0.213976

_SM_DEPTHo 0.13 KALMAN_X 53391.324219,-3182.910400,-1341.667114,-171357.156250,9.626221

_SM_ANGLEo -1.1 KALMAN_Y 39222.332031,1111.815063,268.300873,43541.027344,124.121399

GPS2 040817,002923,6000.7510,-17234.8594,3,0.8,15,7.6,0.0,50.3,11,4.9 MHEAD_RNG_PITCHd_Wd 228.6,9943,-7.8,-8.333,-12.24,10318

SPEED_LIMITS 0.229,0.384 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.5,1.024039,109 _10V_AH 10.17,14.744

FINISH2 0.1 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5925.93,-17425.36,030817,230212 FG_AHR_10Vo 0.000

TT8_MAMPS 0.024717,0.244923 MEM 330904

HUMID 51.65 DATA_FILE_SIZE 17917,177

INTERNAL_PRESSURE 10.1895 CAP_FILE_SIZE 33818,0

TCM_TEMP 2.10 CFSIZE 1024409600,996671488

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

_24V_AH 23.78,11.561 GPS 040817,002923,6000.751,-17234.859,3,0.8,15,7.6,0.0,50.3,11,4.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 65 33.99 SBE_CT 121 24 69.12

Roll_motor 6 1279 197.83 AA4831 480 33 377.30

VBD_pump_during_apogee 70 1315 2192.63 WL_blue_red_Chl 380 105 950.61

VBD_pump_during_surface 0 0 0.00 SAT1000 563 17 238.67

VBD_valve 0 0 0.00 SAT1001 730 17 309.33

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 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 477 19 96.16

LPSleep 0 0 0.00

TT8_Active 156 19 31.47

TT8_Sampling 733 39 296.93

TT8_CF8 54 45 25.35

TT8_Kalman 33 81 27.81

Analog_circuits 454 12 55.42

GPS_charging 0 0 0.00

Compass 426 15 65.11

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

7 -1.58 -584.2 2399 1950 2360 4092 0.0 0.0 0 20 5.88 0.00 -4.38 0.000 20482 0.026 0.000 1832 1951 2836 2836 4095 0 0 0 0 0 0 26.08 28.83 26.11 10.29 51.14

23 -1.58 -584.2 1832 1950 2836 4095 0.1 0.0 1 32 0.00 1.12 -3.00 0.000 16644 0.000 1.280 1831 2367 3167 3167 4094 0 0 0 0 0 0 26.27 24.92 26.29 10.40 51.45

134 -1.58 -584.2 1831 2366 3169 4094 11.8 -11.3 17 144 0.00 1.05 0.00 0.000 1030 0.000 0.029 1832 1949 3170 3170 4095 0 0 0 0 0 0 26.06 26.03 26.09 10.45 50.82

181 -1.58 -584.2 1831 1948 3170 4095 17.2 -11.3 23 189 0.00 0.00 0.00 0.000 6 0.000 0.000 1831 1949 3171 3171 4095 0 0 0 0 0 0 26.32 26.34 26.33 10.43 50.31

225 -1.58 -584.2 1831 1948 3171 4095 22.3 -11.3 29 233 0.00 0.00 0.00 0.000 6 0.000 0.000 1832 1949 3171 3171 4094 0 0 0 0 0 0 26.35 26.36 26.36 10.41 49.64

268 -1.58 -584.2 1831 1948 3172 4094 27.1 -10.9 35 277 0.00 0.00 0.00 0.000 6 0.000 0.000 1831 1949 3173 3173 4095 0 0 0 0 0 0 26.38 26.39 26.39 10.39 49.44

313 -1.58 -584.2 1831 1949 3173 4095 32.0 -10.6 41 322 0.00 0.00 0.00 0.000 6 0.000 0.000 1832 1949 3173 3173 4095 0 0 0 0 0 0 26.40 26.42 26.41 10.38 47.75

357 -1.58 -584.2 1831 1949 3174 4095 36.6 -10.3 47 366 0.00 0.00 0.00 0.000 6 0.000 0.000 1832 1949 3174 3174 4095 0 0 0 0 0 0 26.43 26.44 26.44 10.38 47.67

402 -1.58 -584.2 1831 1948 3175 4095 41.1 -9.8 53 411 0.00 0.00 0.00 0.000 6 0.000 0.000 1831 1949 3175 3175 4094 0 0 0 0 0 0 26.45 26.46 26.46 10.37 47.67

446 -1.58 -584.2 1831 1949 3175 4094 45.9 -11.1 59 454 0.00 0.00 0.00 0.000 6 0.000 0.000 1832 1949 3175 3175 4095 0 0 0 0 0 0 26.47 26.48 26.48 10.36 46.73

490 -1.58 -584.2 1831 1948 3176 4095 50.1 -9.6 65 499 0.00 0.00 0.00 0.000 6 0.000 0.000 1832 1949 3177 3177 4094 0 0 0 0 0 0 26.48 26.51 26.50 10.36 46.33

535 -1.58 -584.2 1831 1949 3177 4094 55.0 -11.1 71 543 0.00 0.00 0.00 0.000 6 0.000 0.000 1831 1949 3178 3178 4095 0 0 0 0 0 0 26.51 26.52 26.52 10.36 46.29

579 -1.58 -584.2 1831 1948 3178 4095 59.9 -11.4 77 588 0.00 0.00 0.00 0.000 6 0.000 0.000 1832 1949 3178 3178 4094 0 0 0 0 0 0 26.52 26.54 26.53 10.35 46.14

595 end dive: TARGET_DEPTH_EXCEEDED

state 596 begin apogee

600 -0.45 0.0 1831 1948 3178 4095 61.8 -10.6 79 645 3.83 0.00 33.20 1.316 10244 0.056 0.000 2184 1949 2485 2485 4094 0 0 0 0 0 0 26.25 24.98 24.30 10.35 45.90

646 end apogee: CONTROL_FINISHED_OK

state 646 begin climb

648 1.58 584.2 2184 1948 2485 4094 64.1 0.0 84 694 6.97 1.10 33.47 1.291 10756 0.037 0.052 2830 1523 1803 1803 4094 0 0 0 0 0 0 25.44 25.38 23.78 10.20 45.55

710 1.58 584.2 2829 1522 1803 4094 60.8 8.4 91 719 0.00 1.02 0.00 0.000 1030 0.000 0.026 2830 1944 1803 1803 4094 0 0 0 0 0 0 25.12 25.10 25.13 10.06 45.03

757 1.58 584.2 2829 1948 1802 4094 56.5 9.7 97 766 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1948 1802 1802 4094 0 0 0 0 0 0 25.58 25.58 25.58 10.05 45.27

803 1.58 584.2 2829 1947 1801 4094 51.8 10.0 103 811 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1948 1800 1800 4094 0 0 0 0 0 0 25.74 25.75 25.75 10.05 44.84

847 1.58 584.2 2829 1948 1800 4094 47.5 9.1 109 855 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1948 1800 1800 4094 0 0 0 0 0 0 25.84 25.86 25.86 10.04 45.07

891 1.58 584.2 2829 1947 1798 4094 42.9 10.3 115 900 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1948 1799 1799 4094 0 0 0 0 0 0 25.94 25.95 25.94 10.04 45.43

935 1.58 584.2 2829 1948 1798 4094 38.7 9.9 121 945 0.00 1.12 0.00 0.000 260 0.000 0.043 2830 2371 1797 1797 4094 0 0 0 0 0 0 26.01 25.72 26.02 10.03 45.27

1000 1.58 584.2 2829 2370 1796 4094 32.0 10.5 130 1009 0.00 1.08 0.00 0.000 1030 0.000 0.032 2830 1955 1796 1796 4094 0 0 0 0 0 0 25.87 25.84 25.89 10.03 45.82

1045 1.58 584.2 2829 1954 1795 4094 27.6 9.8 136 1054 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1954 1795 1795 4095 0 0 0 0 0 0 26.14 26.15 26.15 10.02 46.29

1091 1.58 584.2 2829 1954 1794 4095 23.2 9.9 142 1100 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1954 1794 1794 4094 0 0 0 0 0 0 26.18 26.20 26.20 10.02 46.57

1137 1.58 584.2 2829 1954 1793 4094 19.1 8.8 148 1145 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1954 1793 1793 4094 0 0 0 0 0 0 26.22 26.25 26.24 10.04 46.73

1181 1.58 584.2 2829 1954 1792 4094 15.0 9.1 154 1189 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1954 1792 1792 4094 0 0 0 0 0 0 26.26 26.28 26.27 10.04 46.77

1225 1.58 584.2 2829 1954 1791 4094 11.1 8.6 160 1234 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1955 1791 1791 4094 0 0 0 0 0 0 26.29 26.31 26.31 10.06 47.20

1270 1.64 626.1 2829 1954 1789 4094 7.4 7.9 166 1279 0.12 0.00 3.40 0.340 10246 0.066 0.000 2852 1954 1752 1752 4094 0 0 0 0 0 0 26.13 25.94 25.32 10.09 49.13

1317 1.64 626.1 2851 1954 1751 4094 3.6 8.6 172 1324 0.00 0.00 0.00 0.000 6 0.000 0.000 2852 1954 1751 1751 4094 0 0 0 0 0 0 26.33 26.34 26.34 10.10 49.72

1340 end climb: FINISH_DEPTH_REACHED

state 1340 begin subsurface finish

1346 0.16 108.8 2852 1953 1750 4094 1.5 8.1 175 1364 4.93 0.00 -5.43 0.000 20486 0.053 0.000 2398 1953 2361 2361 4094 0 0 0 0 0 0 26.08 25.60 26.15 10.11 49.72

1365 end subsurface finish: CONTROL_FINISHED_OK

state 1365 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	20	ALTIM_TOP_PING_RANGE	0
DIVE	464	HEADING	-1	C_ROLL_DIVE	1950	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	1950	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	39	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	2485	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	24	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	2340	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	600	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	20	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	040817,002923,6000.7510,-17234.8594,3,0.8,15,7.6,0.0,50.3,11,4.9	TGT_NAME	W5N
_CALLS	1	TGT_LATLONG	5958.680,-17244.760
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.319043,-0.213976
_SM_DEPTHo	0.13	KALMAN_X	53391.324219,-3182.910400,-1341.667114,-171357.156250,9.626221
_SM_ANGLEo	-1.1	KALMAN_Y	39222.332031,1111.815063,268.300873,43541.027344,124.121399
GPS2	040817,002923,6000.7510,-17234.8594,3,0.8,15,7.6,0.0,50.3,11,4.9	MHEAD_RNG_PITCHd_Wd	228.6,9943,-7.8,-8.333,-12.24,10318
SPEED_LIMITS	0.229,0.384	D_GRID	60

FINISH1	1.5,1.024039,109	_10V_AH	10.17,14.744
FINISH2	0.1	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5925.93,-17425.36,030817,230212	FG_AHR_10Vo	0.000
TT8_MAMPS	0.024717,0.244923	MEM	330904
HUMID	51.65	DATA_FILE_SIZE	17917,177
INTERNAL_PRESSURE	10.1895	CAP_FILE_SIZE	33818,0
TCM_TEMP	2.10	CFSIZE	1024409600,996671488
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.78,11.561	GPS	040817,002923,6000.751,-17234.859,3,0.8,15,7.6,0.0,50.3,11,4.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	65	33.99	SBE_CT	121	24	69.12
Roll_motor	6	1279	197.83	AA4831	480	33	377.30
VBD_pump_during_apogee	70	1315	2192.63	WL_blue_red_Chl	380	105	950.61
VBD_pump_during_surface	0	0	0.00	SAT1000	563	17	238.67
VBD_valve	0	0	0.00	SAT1001	730	17	309.33
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	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	477	19	96.16
LPSleep	0	0	0.00
TT8_Active	156	19	31.47
TT8_Sampling	733	39	296.93
TT8_CF8	54	45	25.35
TT8_Kalman	33	81	27.81
Analog_circuits	454	12	55.42
GPS_charging	0	0	0.00
Compass	426	15	65.11
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
7	-1.58	-584.2	2399	1950	2360	4092	0.0	0.0	0	20	5.88	0.00	-4.38	0.000	20482	0.026	0.000	1832	1951	2836	2836	4095	0	0	0	0	0	0	26.08	28.83	26.11	10.29	51.14
23	-1.58	-584.2	1832	1950	2836	4095	0.1	0.0	1	32	0.00	1.12	-3.00	0.000	16644	0.000	1.280	1831	2367	3167	3167	4094	0	0	0	0	0	0	26.27	24.92	26.29	10.40	51.45
134	-1.58	-584.2	1831	2366	3169	4094	11.8	-11.3	17	144	0.00	1.05	0.00	0.000	1030	0.000	0.029	1832	1949	3170	3170	4095	0	0	0	0	0	0	26.06	26.03	26.09	10.45	50.82
181	-1.58	-584.2	1831	1948	3170	4095	17.2	-11.3	23	189	0.00	0.00	0.00	0.000	6	0.000	0.000	1831	1949	3171	3171	4095	0	0	0	0	0	0	26.32	26.34	26.33	10.43	50.31
225	-1.58	-584.2	1831	1948	3171	4095	22.3	-11.3	29	233	0.00	0.00	0.00	0.000	6	0.000	0.000	1832	1949	3171	3171	4094	0	0	0	0	0	0	26.35	26.36	26.36	10.41	49.64
268	-1.58	-584.2	1831	1948	3172	4094	27.1	-10.9	35	277	0.00	0.00	0.00	0.000	6	0.000	0.000	1831	1949	3173	3173	4095	0	0	0	0	0	0	26.38	26.39	26.39	10.39	49.44
313	-1.58	-584.2	1831	1949	3173	4095	32.0	-10.6	41	322	0.00	0.00	0.00	0.000	6	0.000	0.000	1832	1949	3173	3173	4095	0	0	0	0	0	0	26.40	26.42	26.41	10.38	47.75
357	-1.58	-584.2	1831	1949	3174	4095	36.6	-10.3	47	366	0.00	0.00	0.00	0.000	6	0.000	0.000	1832	1949	3174	3174	4095	0	0	0	0	0	0	26.43	26.44	26.44	10.38	47.67
402	-1.58	-584.2	1831	1948	3175	4095	41.1	-9.8	53	411	0.00	0.00	0.00	0.000	6	0.000	0.000	1831	1949	3175	3175	4094	0	0	0	0	0	0	26.45	26.46	26.46	10.37	47.67
446	-1.58	-584.2	1831	1949	3175	4094	45.9	-11.1	59	454	0.00	0.00	0.00	0.000	6	0.000	0.000	1832	1949	3175	3175	4095	0	0	0	0	0	0	26.47	26.48	26.48	10.36	46.73
490	-1.58	-584.2	1831	1948	3176	4095	50.1	-9.6	65	499	0.00	0.00	0.00	0.000	6	0.000	0.000	1832	1949	3177	3177	4094	0	0	0	0	0	0	26.48	26.51	26.50	10.36	46.33
535	-1.58	-584.2	1831	1949	3177	4094	55.0	-11.1	71	543	0.00	0.00	0.00	0.000	6	0.000	0.000	1831	1949	3178	3178	4095	0	0	0	0	0	0	26.51	26.52	26.52	10.36	46.29
579	-1.58	-584.2	1831	1948	3178	4095	59.9	-11.4	77	588	0.00	0.00	0.00	0.000	6	0.000	0.000	1832	1949	3178	3178	4094	0	0	0	0	0	0	26.52	26.54	26.53	10.35	46.14
595	end dive: TARGET_DEPTH_EXCEEDED
state	596	begin apogee
600	-0.45	0.0	1831	1948	3178	4095	61.8	-10.6	79	645	3.83	0.00	33.20	1.316	10244	0.056	0.000	2184	1949	2485	2485	4094	0	0	0	0	0	0	26.25	24.98	24.30	10.35	45.90
646	end apogee: CONTROL_FINISHED_OK
state	646	begin climb
648	1.58	584.2	2184	1948	2485	4094	64.1	0.0	84	694	6.97	1.10	33.47	1.291	10756	0.037	0.052	2830	1523	1803	1803	4094	0	0	0	0	0	0	25.44	25.38	23.78	10.20	45.55
710	1.58	584.2	2829	1522	1803	4094	60.8	8.4	91	719	0.00	1.02	0.00	0.000	1030	0.000	0.026	2830	1944	1803	1803	4094	0	0	0	0	0	0	25.12	25.10	25.13	10.06	45.03
757	1.58	584.2	2829	1948	1802	4094	56.5	9.7	97	766	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1948	1802	1802	4094	0	0	0	0	0	0	25.58	25.58	25.58	10.05	45.27
803	1.58	584.2	2829	1947	1801	4094	51.8	10.0	103	811	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1948	1800	1800	4094	0	0	0	0	0	0	25.74	25.75	25.75	10.05	44.84
847	1.58	584.2	2829	1948	1800	4094	47.5	9.1	109	855	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1948	1800	1800	4094	0	0	0	0	0	0	25.84	25.86	25.86	10.04	45.07
891	1.58	584.2	2829	1947	1798	4094	42.9	10.3	115	900	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1948	1799	1799	4094	0	0	0	0	0	0	25.94	25.95	25.94	10.04	45.43
935	1.58	584.2	2829	1948	1798	4094	38.7	9.9	121	945	0.00	1.12	0.00	0.000	260	0.000	0.043	2830	2371	1797	1797	4094	0	0	0	0	0	0	26.01	25.72	26.02	10.03	45.27
1000	1.58	584.2	2829	2370	1796	4094	32.0	10.5	130	1009	0.00	1.08	0.00	0.000	1030	0.000	0.032	2830	1955	1796	1796	4094	0	0	0	0	0	0	25.87	25.84	25.89	10.03	45.82
1045	1.58	584.2	2829	1954	1795	4094	27.6	9.8	136	1054	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1954	1795	1795	4095	0	0	0	0	0	0	26.14	26.15	26.15	10.02	46.29
1091	1.58	584.2	2829	1954	1794	4095	23.2	9.9	142	1100	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1954	1794	1794	4094	0	0	0	0	0	0	26.18	26.20	26.20	10.02	46.57
1137	1.58	584.2	2829	1954	1793	4094	19.1	8.8	148	1145	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1954	1793	1793	4094	0	0	0	0	0	0	26.22	26.25	26.24	10.04	46.73
1181	1.58	584.2	2829	1954	1792	4094	15.0	9.1	154	1189	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1954	1792	1792	4094	0	0	0	0	0	0	26.26	26.28	26.27	10.04	46.77
1225	1.58	584.2	2829	1954	1791	4094	11.1	8.6	160	1234	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1955	1791	1791	4094	0	0	0	0	0	0	26.29	26.31	26.31	10.06	47.20
1270	1.64	626.1	2829	1954	1789	4094	7.4	7.9	166	1279	0.12	0.00	3.40	0.340	10246	0.066	0.000	2852	1954	1752	1752	4094	0	0	0	0	0	0	26.13	25.94	25.32	10.09	49.13
1317	1.64	626.1	2851	1954	1751	4094	3.6	8.6	172	1324	0.00	0.00	0.00	0.000	6	0.000	0.000	2852	1954	1751	1751	4094	0	0	0	0	0	0	26.33	26.34	26.34	10.10	49.72
1340	end climb: FINISH_DEPTH_REACHED
state	1340	begin subsurface finish
1346	0.16	108.8	2852	1953	1750	4094	1.5	8.1	175	1364	4.93	0.00	-5.43	0.000	20486	0.053	0.000	2398	1953	2361	2361	4094	0	0	0	0	0	0	26.08	25.60	26.15	10.11	49.72
1365	end subsurface finish: CONTROL_FINISHED_OK
state	1365	begin surface