Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 470 * 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 470 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 24 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 38 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 24 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 38 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 470 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 040817,031423,6000.9199,-17235.7637,3,0.8,14,7.6,0.0,61.1,10,4.6 TGT_NAME W5N

_CALLS 1 TGT_LATLONG 5958.680,-17244.760

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.361062,-0.136068

_SM_DEPTHo 0.14 KALMAN_X 54674.234375,-3013.819580,-970.544006,-174031.500000,216.026245

_SM_ANGLEo -1.0 KALMAN_Y 41001.542969,1122.771118,293.734314,42039.941406,47.947144

GPS2 040817,031423,6000.9199,-17235.7637,3,0.8,14,7.6,0.0,61.1,10,4.6 MHEAD_RNG_PITCHd_Wd 241.8,9311,-7.7,-8.333,-12.19,10432

SPEED_LIMITS 0.229,0.384 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.9,1.023932,116 _10V_AH 10.15,14.953

FINISH2 0.5 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5925.93,-17425.36,040817,014702 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.250915 MEM 330832

HUMID 50.82 DATA_FILE_SIZE 17815,177

INTERNAL_PRESSURE 10.17 CAP_FILE_SIZE 33712,0

TCM_TEMP 2.20 CFSIZE 1024409600,996376576

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

_24V_AH 23.78,11.752 GPS 040817,031423,6000.920,-17235.764,3,0.8,14,7.6,0.0,61.1,10,4.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 71 37.66 SBE_CT 121 24 69.15

Roll_motor 4 1281 133.31 AA4831 480 33 377.30

VBD_pump_during_apogee 76 1306 2383.95 WL_blue_red_Chl 380 105 950.67

VBD_pump_during_surface 0 0 0.00 SAT1000 564 17 238.77

VBD_valve 0 0 0.00 SAT1001 729 17 308.96

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 480 19 96.52

LPSleep 0 2 0.01

TT8_Active 152 19 30.68

TT8_Sampling 732 39 295.99

TT8_CF8 53 45 24.90

TT8_Kalman 33 81 27.75

Analog_circuits 445 12 54.32

GPS_charging 0 0 0.00

Compass 425 15 64.84

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 -1.58 -585.0 2396 1962 2354 4092 0.0 0.0 0 21 5.80 0.00 -4.88 0.000 20482 0.026 0.000 1835 1962 2881 2881 4094 0 0 0 0 0 0 26.08 28.83 26.10 10.29 51.10

24 -1.58 -585.0 1834 1962 2882 4094 0.1 0.0 1 34 0.00 1.12 -2.72 0.000 16644 0.000 1.281 1835 2362 3171 3171 4094 0 0 0 0 0 0 26.27 24.91 26.27 10.40 51.02

127 -1.58 -585.0 1834 2362 3173 4094 11.6 -12.7 16 137 0.00 1.05 0.00 0.000 1030 0.000 0.031 1835 1946 3173 3173 4095 0 0 0 0 0 0 26.05 26.00 26.06 10.45 50.78

174 -1.58 -585.0 1834 1946 3174 4095 16.7 -10.7 22 183 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1946 3174 3174 4094 0 0 0 0 0 0 26.29 26.30 26.30 10.42 50.86

220 -1.58 -585.0 1834 1946 3175 4094 21.5 -10.4 28 228 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1946 3175 3175 4095 0 0 0 0 0 0 26.32 26.34 26.34 10.40 49.33

264 -1.58 -585.0 1834 1946 3175 4095 26.3 -11.0 34 272 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1946 3176 3176 4094 0 0 0 0 0 0 26.36 26.36 26.36 10.38 48.38

308 -1.58 -585.0 1835 1946 3176 4094 30.9 -10.6 40 316 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1946 3177 3177 4095 0 0 0 0 0 0 26.38 26.39 26.39 10.38 47.55

351 -1.58 -585.0 1834 1946 3177 4095 35.6 -10.4 46 360 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1946 3177 3177 4095 0 0 0 0 0 0 26.40 26.42 26.41 10.38 47.40

396 -1.58 -585.0 1834 1946 3178 4095 40.2 -10.1 52 405 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1946 3178 3178 4094 0 0 0 0 0 0 26.43 26.44 26.44 10.36 46.77

441 -1.58 -585.0 1834 1946 3179 4094 44.8 -10.9 58 448 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1946 3179 3179 4095 0 0 0 0 0 0 26.45 26.46 26.46 10.37 46.96

484 -1.58 -585.0 1834 1946 3180 4095 49.8 -11.3 64 493 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1946 3180 3180 4095 0 0 0 0 0 0 26.47 26.48 26.48 10.36 46.29

528 -1.58 -585.0 1834 1946 3181 4095 53.8 -9.1 70 537 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 1946 3181 3181 4095 0 0 0 0 0 0 26.48 26.51 26.50 10.36 46.22

573 -1.58 -585.0 1834 1946 3181 4095 58.6 -11.0 76 581 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1946 3182 3182 4095 0 0 0 0 0 0 26.51 26.52 26.51 10.35 46.41

589 end dive: TARGET_DEPTH_EXCEEDED

state 589 begin apogee

594 -0.45 0.0 1835 1946 3182 4094 60.6 -11.0 78 638 3.80 0.00 33.45 1.307 10244 0.054 0.000 2185 1945 2484 2484 4094 0 0 0 0 0 0 26.22 24.97 24.29 10.35 46.10

639 end apogee: CONTROL_FINISHED_OK

state 639 begin climb

641 1.58 585.0 2185 1945 2484 4094 63.3 0.0 83 686 6.97 0.00 33.38 1.284 11270 0.037 0.000 2830 1945 1802 1802 4094 0 0 0 0 0 0 25.46 25.63 23.78 10.20 45.78

724 1.58 585.0 2829 1945 1801 4094 57.6 10.0 93 732 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1945 1801 1801 4094 0 0 0 0 0 0 25.44 25.45 25.45 10.05 45.62

767 1.58 585.0 2830 1945 1801 4094 53.1 9.8 99 776 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1945 1800 1800 4094 0 0 0 0 0 0 25.64 25.65 25.65 10.04 45.27

812 1.58 585.0 2829 1945 1800 4094 48.4 9.8 105 821 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1946 1799 1799 4094 0 0 0 0 0 0 25.77 25.79 25.79 10.04 45.07

857 1.58 585.0 2829 1945 1798 4094 44.0 9.9 111 864 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1945 1798 1798 4094 0 0 0 0 0 0 25.87 25.89 25.89 10.04 45.98

900 1.58 585.0 2830 1945 1797 4094 39.7 10.0 117 910 0.00 1.15 0.00 0.000 260 0.000 0.042 2829 2370 1797 1797 4094 0 0 0 0 0 0 25.96 25.68 25.96 10.03 46.33

971 1.58 585.0 2829 2370 1796 4094 32.9 9.4 127 981 0.00 1.05 0.00 0.000 1030 0.000 0.031 2830 1962 1795 1795 4094 0 0 0 0 0 0 25.84 25.82 25.86 10.03 46.33

1018 1.58 585.0 2829 1962 1795 4094 28.7 9.2 133 1027 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1962 1795 1795 4094 0 0 0 0 0 0 26.11 26.13 26.13 10.03 46.85

1065 1.58 585.0 2829 1962 1794 4094 24.6 8.8 139 1073 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1962 1794 1794 4094 0 0 0 0 0 0 26.16 26.17 26.17 10.03 46.41

1108 1.58 585.0 2829 1962 1793 4094 20.6 8.7 145 1117 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1962 1793 1793 4094 0 0 0 0 0 0 26.20 26.22 26.21 10.02 46.88

1153 1.63 620.5 2829 1962 1792 4094 17.0 8.0 151 1162 0.00 0.00 3.17 0.350 8198 0.000 0.000 2830 1962 1762 1762 4094 0 0 0 0 0 0 26.24 25.66 25.17 10.03 46.73

1199 1.66 641.7 2829 1962 1761 4094 13.4 8.1 157 1208 0.17 0.00 3.03 0.306 10246 0.054 0.000 2858 1962 1734 1734 4094 0 0 0 0 0 0 26.06 25.67 25.20 10.04 46.81

1246 1.72 678.4 2857 1962 1733 4094 9.7 8.0 163 1256 0.10 0.00 3.70 0.389 10246 0.072 0.000 2878 1962 1692 1692 4094 0 0 0 0 0 0 26.08 25.70 25.29 10.06 47.75

1294 1.72 678.4 2878 1962 1690 4094 5.7 8.6 169 1302 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 1962 1690 1690 4095 0 0 0 0 0 0 26.27 26.29 26.28 10.07 48.85

1338 end climb: FINISH_DEPTH_REACHED

state 1338 begin subsurface finish

1344 0.17 116.3 2878 1961 1689 4094 1.9 8.2 175 1363 5.18 0.00 -5.45 0.000 20486 0.053 0.000 2401 1962 2349 2349 4094 0 0 0 0 0 0 26.05 25.55 26.11 10.09 50.63

1364 end subsurface finish: CONTROL_FINISHED_OK

state 1364 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	470	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	24	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	38	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	040817,031423,6000.9199,-17235.7637,3,0.8,14,7.6,0.0,61.1,10,4.6	TGT_NAME	W5N
_CALLS	1	TGT_LATLONG	5958.680,-17244.760
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.361062,-0.136068
_SM_DEPTHo	0.14	KALMAN_X	54674.234375,-3013.819580,-970.544006,-174031.500000,216.026245
_SM_ANGLEo	-1.0	KALMAN_Y	41001.542969,1122.771118,293.734314,42039.941406,47.947144
GPS2	040817,031423,6000.9199,-17235.7637,3,0.8,14,7.6,0.0,61.1,10,4.6	MHEAD_RNG_PITCHd_Wd	241.8,9311,-7.7,-8.333,-12.19,10432
SPEED_LIMITS	0.229,0.384	D_GRID	60

FINISH1	1.9,1.023932,116	_10V_AH	10.15,14.953
FINISH2	0.5	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5925.93,-17425.36,040817,014702	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.250915	MEM	330832
HUMID	50.82	DATA_FILE_SIZE	17815,177
INTERNAL_PRESSURE	10.17	CAP_FILE_SIZE	33712,0
TCM_TEMP	2.20	CFSIZE	1024409600,996376576
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.78,11.752	GPS	040817,031423,6000.920,-17235.764,3,0.8,14,7.6,0.0,61.1,10,4.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	71	37.66	SBE_CT	121	24	69.15
Roll_motor	4	1281	133.31	AA4831	480	33	377.30
VBD_pump_during_apogee	76	1306	2383.95	WL_blue_red_Chl	380	105	950.67
VBD_pump_during_surface	0	0	0.00	SAT1000	564	17	238.77
VBD_valve	0	0	0.00	SAT1001	729	17	308.96
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	480	19	96.52
LPSleep	0	2	0.01
TT8_Active	152	19	30.68
TT8_Sampling	732	39	295.99
TT8_CF8	53	45	24.90
TT8_Kalman	33	81	27.75
Analog_circuits	445	12	54.32
GPS_charging	0	0	0.00
Compass	425	15	64.84
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	-1.58	-585.0	2396	1962	2354	4092	0.0	0.0	0	21	5.80	0.00	-4.88	0.000	20482	0.026	0.000	1835	1962	2881	2881	4094	0	0	0	0	0	0	26.08	28.83	26.10	10.29	51.10
24	-1.58	-585.0	1834	1962	2882	4094	0.1	0.0	1	34	0.00	1.12	-2.72	0.000	16644	0.000	1.281	1835	2362	3171	3171	4094	0	0	0	0	0	0	26.27	24.91	26.27	10.40	51.02
127	-1.58	-585.0	1834	2362	3173	4094	11.6	-12.7	16	137	0.00	1.05	0.00	0.000	1030	0.000	0.031	1835	1946	3173	3173	4095	0	0	0	0	0	0	26.05	26.00	26.06	10.45	50.78
174	-1.58	-585.0	1834	1946	3174	4095	16.7	-10.7	22	183	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1946	3174	3174	4094	0	0	0	0	0	0	26.29	26.30	26.30	10.42	50.86
220	-1.58	-585.0	1834	1946	3175	4094	21.5	-10.4	28	228	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1946	3175	3175	4095	0	0	0	0	0	0	26.32	26.34	26.34	10.40	49.33
264	-1.58	-585.0	1834	1946	3175	4095	26.3	-11.0	34	272	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1946	3176	3176	4094	0	0	0	0	0	0	26.36	26.36	26.36	10.38	48.38
308	-1.58	-585.0	1835	1946	3176	4094	30.9	-10.6	40	316	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1946	3177	3177	4095	0	0	0	0	0	0	26.38	26.39	26.39	10.38	47.55
351	-1.58	-585.0	1834	1946	3177	4095	35.6	-10.4	46	360	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1946	3177	3177	4095	0	0	0	0	0	0	26.40	26.42	26.41	10.38	47.40
396	-1.58	-585.0	1834	1946	3178	4095	40.2	-10.1	52	405	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1946	3178	3178	4094	0	0	0	0	0	0	26.43	26.44	26.44	10.36	46.77
441	-1.58	-585.0	1834	1946	3179	4094	44.8	-10.9	58	448	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1946	3179	3179	4095	0	0	0	0	0	0	26.45	26.46	26.46	10.37	46.96
484	-1.58	-585.0	1834	1946	3180	4095	49.8	-11.3	64	493	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1946	3180	3180	4095	0	0	0	0	0	0	26.47	26.48	26.48	10.36	46.29
528	-1.58	-585.0	1834	1946	3181	4095	53.8	-9.1	70	537	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	1946	3181	3181	4095	0	0	0	0	0	0	26.48	26.51	26.50	10.36	46.22
573	-1.58	-585.0	1834	1946	3181	4095	58.6	-11.0	76	581	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1946	3182	3182	4095	0	0	0	0	0	0	26.51	26.52	26.51	10.35	46.41
589	end dive: TARGET_DEPTH_EXCEEDED
state	589	begin apogee
594	-0.45	0.0	1835	1946	3182	4094	60.6	-11.0	78	638	3.80	0.00	33.45	1.307	10244	0.054	0.000	2185	1945	2484	2484	4094	0	0	0	0	0	0	26.22	24.97	24.29	10.35	46.10
639	end apogee: CONTROL_FINISHED_OK
state	639	begin climb
641	1.58	585.0	2185	1945	2484	4094	63.3	0.0	83	686	6.97	0.00	33.38	1.284	11270	0.037	0.000	2830	1945	1802	1802	4094	0	0	0	0	0	0	25.46	25.63	23.78	10.20	45.78
724	1.58	585.0	2829	1945	1801	4094	57.6	10.0	93	732	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1945	1801	1801	4094	0	0	0	0	0	0	25.44	25.45	25.45	10.05	45.62
767	1.58	585.0	2830	1945	1801	4094	53.1	9.8	99	776	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1945	1800	1800	4094	0	0	0	0	0	0	25.64	25.65	25.65	10.04	45.27
812	1.58	585.0	2829	1945	1800	4094	48.4	9.8	105	821	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1946	1799	1799	4094	0	0	0	0	0	0	25.77	25.79	25.79	10.04	45.07
857	1.58	585.0	2829	1945	1798	4094	44.0	9.9	111	864	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1945	1798	1798	4094	0	0	0	0	0	0	25.87	25.89	25.89	10.04	45.98
900	1.58	585.0	2830	1945	1797	4094	39.7	10.0	117	910	0.00	1.15	0.00	0.000	260	0.000	0.042	2829	2370	1797	1797	4094	0	0	0	0	0	0	25.96	25.68	25.96	10.03	46.33
971	1.58	585.0	2829	2370	1796	4094	32.9	9.4	127	981	0.00	1.05	0.00	0.000	1030	0.000	0.031	2830	1962	1795	1795	4094	0	0	0	0	0	0	25.84	25.82	25.86	10.03	46.33
1018	1.58	585.0	2829	1962	1795	4094	28.7	9.2	133	1027	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1962	1795	1795	4094	0	0	0	0	0	0	26.11	26.13	26.13	10.03	46.85
1065	1.58	585.0	2829	1962	1794	4094	24.6	8.8	139	1073	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1962	1794	1794	4094	0	0	0	0	0	0	26.16	26.17	26.17	10.03	46.41
1108	1.58	585.0	2829	1962	1793	4094	20.6	8.7	145	1117	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1962	1793	1793	4094	0	0	0	0	0	0	26.20	26.22	26.21	10.02	46.88
1153	1.63	620.5	2829	1962	1792	4094	17.0	8.0	151	1162	0.00	0.00	3.17	0.350	8198	0.000	0.000	2830	1962	1762	1762	4094	0	0	0	0	0	0	26.24	25.66	25.17	10.03	46.73
1199	1.66	641.7	2829	1962	1761	4094	13.4	8.1	157	1208	0.17	0.00	3.03	0.306	10246	0.054	0.000	2858	1962	1734	1734	4094	0	0	0	0	0	0	26.06	25.67	25.20	10.04	46.81
1246	1.72	678.4	2857	1962	1733	4094	9.7	8.0	163	1256	0.10	0.00	3.70	0.389	10246	0.072	0.000	2878	1962	1692	1692	4094	0	0	0	0	0	0	26.08	25.70	25.29	10.06	47.75
1294	1.72	678.4	2878	1962	1690	4094	5.7	8.6	169	1302	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	1962	1690	1690	4095	0	0	0	0	0	0	26.27	26.29	26.28	10.07	48.85
1338	end climb: FINISH_DEPTH_REACHED
state	1338	begin subsurface finish
1344	0.17	116.3	2878	1961	1689	4094	1.9	8.2	175	1363	5.18	0.00	-5.45	0.000	20486	0.053	0.000	2401	1962	2349	2349	4094	0	0	0	0	0	0	26.05	25.55	26.11	10.09	50.63
1364	end subsurface finish: CONTROL_FINISHED_OK
state	1364	begin surface