Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 512 * 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 512 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 26 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 40 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 26 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 40 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 512 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 040817,225315,6003.4849,-17257.0566,8,0.8,14,7.4,0.6,299.2,10,4.6 TGT_NAME W6N

_CALLS 1 TGT_LATLONG 6006.060,-17319.020

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.381706,-0.020150

_SM_DEPTHo 0.12 KALMAN_X 56095.601562,-3159.729248,-1199.418091,-195249.062500,-182.375122

_SM_ANGLEo -2.2 KALMAN_Y 40856.210938,885.942566,355.050201,47117.027344,196.924103

GPS2 040817,225315,6003.4849,-17257.0566,8,0.8,14,7.4,0.6,299.2,10,4.6 MHEAD_RNG_PITCHd_Wd 259.6,20829,-7.8,-8.333,-12.30,10190

SPEED_LIMITS 0.229,0.384 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.9,1.024403,83 _10V_AH 10.15,16.446

FINISH2 0.3 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5925.93,-17425.36,040817,212433 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.238931 MEM 330816

HUMID 50.31 DATA_FILE_SIZE 18019,171

INTERNAL_PRESSURE 10.17 CAP_FILE_SIZE 34241,0

TCM_TEMP 2.20 CFSIZE 1024409600,994312192

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

_24V_AH 23.77,13.122 GPS 040817,225315,6003.485,-17257.057,8,0.8,14,7.4,0.6,299.2,10,4.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 55 28.57 SBE_CT 116 24 66.49

Roll_motor 10 51 13.10 AA4831 464 33 364.33

VBD_pump_during_apogee 72 1320 2270.75 WL_blue_red_Chl 367 105 918.09

VBD_pump_during_surface 0 0 0.00 SAT1000 544 17 230.46

VBD_valve 0 0 0.00 SAT1001 704 17 298.10

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 473 19 95.09

LPSleep 0 2 0.02

TT8_Active 152 19 30.71

TT8_Sampling 707 39 285.91

TT8_CF8 56 45 26.15

TT8_Kalman 33 81 27.75

Analog_circuits 442 12 53.89

GPS_charging 0 0 0.00

Compass 413 15 63.03

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 -576.7 2372 1942 2408 4092 0.0 0.0 0 21 5.57 0.00 -5.30 0.000 20482 0.028 0.000 1835 1943 2971 2971 4095 0 0 0 0 0 0 26.10 28.83 26.12 10.24 50.27

24 -1.58 -576.7 1834 1943 2971 4095 0.0 0.0 1 32 0.00 0.00 -1.80 0.000 16390 0.000 0.000 1834 1943 3157 3157 4095 0 0 0 0 0 0 26.29 25.59 26.29 10.36 50.27

68 -1.58 -576.7 1834 1943 3157 4095 2.9 -10.1 7 76 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1943 3157 3157 4094 0 0 0 0 0 0 26.21 26.22 26.22 10.40 50.47

112 -1.58 -576.7 1834 1943 3158 4094 8.2 -12.6 13 120 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 1943 3158 3158 4095 0 0 0 0 0 0 26.25 26.26 26.26 10.40 49.88

156 -1.58 -576.7 1834 1943 3159 4095 14.3 -14.0 19 166 0.00 1.12 0.00 0.000 260 0.000 0.044 1834 2365 3160 3160 4095 0 0 0 0 0 0 26.29 26.01 26.29 10.40 49.44

229 -1.58 -576.7 1834 2365 3160 4095 22.7 -11.2 29 239 0.00 1.05 0.00 0.000 1030 0.000 0.029 1834 1949 3161 3161 4094 0 0 0 0 0 0 26.12 26.11 26.14 10.39 49.88

276 -1.58 -576.7 1834 1949 3161 4094 27.5 -10.5 35 284 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 1949 3162 3162 4095 0 0 0 0 0 0 26.36 26.38 26.37 10.39 49.72

320 -1.58 -576.7 1834 1949 3162 4095 32.1 -9.9 41 329 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1949 3162 3162 4095 0 0 0 0 0 0 26.39 26.41 26.40 10.38 48.93

364 -1.58 -576.7 1834 1949 3163 4095 36.5 -10.2 47 374 0.00 1.10 0.00 0.000 516 0.000 0.051 1834 1519 3163 3163 4095 0 0 0 0 0 0 26.41 26.11 26.43 10.37 48.30

429 -1.58 -576.7 1834 1519 3164 4095 43.3 -10.4 56 438 0.00 0.98 0.00 0.000 1030 0.000 0.026 1834 1939 3165 3165 4094 0 0 0 0 0 0 26.25 26.21 26.26 10.36 48.50

474 -1.58 -576.7 1834 1939 3165 4094 47.9 -10.4 62 483 0.00 1.12 0.00 0.000 260 0.000 0.047 1834 2370 3165 3165 4095 0 0 0 0 0 0 26.46 26.17 26.48 10.35 47.40

532 -1.58 -576.7 1834 2370 3166 4095 54.1 -10.5 70 541 0.00 1.02 0.00 0.000 1030 0.000 0.032 1834 1965 3166 3166 4095 0 0 0 0 0 0 26.27 26.25 26.32 10.34 47.71

578 -1.58 -576.7 1833 1965 3167 4095 58.9 -11.1 76 586 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 1965 3167 3167 4095 0 0 0 0 0 0 26.51 26.52 26.52 10.34 47.32

593 end dive: TARGET_DEPTH_EXCEEDED

state 594 begin apogee

599 -0.45 0.0 1834 1964 3168 4094 61.0 -11.2 78 643 3.83 0.00 32.90 1.320 10244 0.054 0.000 2187 1964 2482 2482 4094 0 0 0 0 0 0 26.23 24.97 24.25 10.34 47.04

644 end apogee: CONTROL_FINISHED_OK

state 644 begin climb

646 1.58 576.7 2186 1964 2483 4094 63.7 0.0 83 690 6.97 0.00 32.95 1.293 11270 0.037 0.000 2831 1964 1812 1812 4094 0 0 0 0 0 0 25.46 25.63 23.77 10.19 46.25

728 1.58 576.7 2831 1964 1811 4094 58.1 9.1 93 736 0.00 1.10 0.00 0.000 260 0.000 0.040 2831 2363 1812 1812 4094 0 0 0 0 0 0 25.44 25.18 25.44 10.05 45.11

774 1.58 576.7 2830 2363 1810 4094 53.3 10.4 99 783 0.00 1.05 0.00 0.000 1030 0.000 0.028 2831 1959 1810 1810 4094 0 0 0 0 0 0 25.44 25.41 25.45 10.04 45.31

821 1.58 576.7 2831 1959 1809 4094 48.5 9.9 105 829 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1959 1809 1809 4094 0 0 0 0 0 0 25.78 25.79 25.79 10.03 45.35

865 1.58 576.7 2830 1959 1808 4094 43.9 10.0 111 873 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1960 1808 1808 4094 0 0 0 0 0 0 25.87 25.89 25.89 10.04 45.51

909 1.58 576.7 2831 1959 1807 4094 39.5 9.7 117 918 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1960 1807 1807 4094 0 0 0 0 0 0 25.96 25.97 25.96 10.03 45.94

954 1.58 576.7 2830 1959 1805 4094 34.9 10.2 123 963 0.00 1.12 0.00 0.000 260 0.000 0.041 2831 2372 1806 1806 4094 0 0 0 0 0 0 26.02 25.75 26.03 10.03 46.22

1013 1.58 576.7 2831 2371 1805 4094 28.9 10.5 131 1023 0.00 1.08 0.00 0.000 1030 0.000 0.031 2831 1954 1804 1804 4094 0 0 0 0 0 0 25.90 25.84 25.90 10.03 46.77

1061 1.58 576.7 2831 1954 1803 4094 24.0 10.2 137 1069 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1954 1803 1803 4094 0 0 0 0 0 0 26.14 26.16 26.15 10.05 47.44

1107 1.58 576.7 2831 1954 1803 4094 19.6 9.5 143 1115 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1954 1803 1803 4094 0 0 0 0 0 0 26.19 26.20 26.20 10.06 47.48

1153 1.58 576.7 2830 1954 1801 4094 15.4 8.8 149 1161 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 1954 1801 1801 4094 0 0 0 0 0 0 26.22 26.24 26.24 10.07 48.14

1197 1.60 594.0 2830 1954 1801 4094 11.6 8.2 155 1206 0.00 0.00 2.35 0.148 8198 0.000 0.000 2831 1954 1788 1788 4094 0 0 0 0 0 0 26.26 25.69 25.21 10.08 49.25

1244 1.68 643.0 2830 1954 1789 4094 8.0 7.8 161 1254 0.22 0.00 4.15 0.431 10246 0.045 0.000 2865 1953 1733 1733 4094 0 0 0 0 0 0 26.08 25.87 25.25 10.08 49.17

1292 1.68 643.0 2865 1953 1733 4094 3.9 8.8 167 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1954 1733 1733 4094 0 0 0 0 0 0 26.27 26.29 26.29 10.08 49.76

1308 end climb: FINISH_DEPTH_REACHED

state 1308 begin subsurface finish

1314 0.13 83.4 2865 1953 1732 4094 1.9 9.2 169 1333 5.22 0.00 -5.62 0.000 20486 0.055 0.000 2387 1954 2387 2387 4094 0 0 0 0 0 0 26.01 25.54 26.08 10.09 50.27

1334 end subsurface finish: CONTROL_FINISHED_OK

state 1334 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	512	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	26	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	40	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	040817,225315,6003.4849,-17257.0566,8,0.8,14,7.4,0.6,299.2,10,4.6	TGT_NAME	W6N
_CALLS	1	TGT_LATLONG	6006.060,-17319.020
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.381706,-0.020150
_SM_DEPTHo	0.12	KALMAN_X	56095.601562,-3159.729248,-1199.418091,-195249.062500,-182.375122
_SM_ANGLEo	-2.2	KALMAN_Y	40856.210938,885.942566,355.050201,47117.027344,196.924103
GPS2	040817,225315,6003.4849,-17257.0566,8,0.8,14,7.4,0.6,299.2,10,4.6	MHEAD_RNG_PITCHd_Wd	259.6,20829,-7.8,-8.333,-12.30,10190
SPEED_LIMITS	0.229,0.384	D_GRID	60

FINISH1	1.9,1.024403,83	_10V_AH	10.15,16.446
FINISH2	0.3	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5925.93,-17425.36,040817,212433	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.238931	MEM	330816
HUMID	50.31	DATA_FILE_SIZE	18019,171
INTERNAL_PRESSURE	10.17	CAP_FILE_SIZE	34241,0
TCM_TEMP	2.20	CFSIZE	1024409600,994312192
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.77,13.122	GPS	040817,225315,6003.485,-17257.057,8,0.8,14,7.4,0.6,299.2,10,4.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	55	28.57	SBE_CT	116	24	66.49
Roll_motor	10	51	13.10	AA4831	464	33	364.33
VBD_pump_during_apogee	72	1320	2270.75	WL_blue_red_Chl	367	105	918.09
VBD_pump_during_surface	0	0	0.00	SAT1000	544	17	230.46
VBD_valve	0	0	0.00	SAT1001	704	17	298.10
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	473	19	95.09
LPSleep	0	2	0.02
TT8_Active	152	19	30.71
TT8_Sampling	707	39	285.91
TT8_CF8	56	45	26.15
TT8_Kalman	33	81	27.75
Analog_circuits	442	12	53.89
GPS_charging	0	0	0.00
Compass	413	15	63.03
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	-576.7	2372	1942	2408	4092	0.0	0.0	0	21	5.57	0.00	-5.30	0.000	20482	0.028	0.000	1835	1943	2971	2971	4095	0	0	0	0	0	0	26.10	28.83	26.12	10.24	50.27
24	-1.58	-576.7	1834	1943	2971	4095	0.0	0.0	1	32	0.00	0.00	-1.80	0.000	16390	0.000	0.000	1834	1943	3157	3157	4095	0	0	0	0	0	0	26.29	25.59	26.29	10.36	50.27
68	-1.58	-576.7	1834	1943	3157	4095	2.9	-10.1	7	76	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1943	3157	3157	4094	0	0	0	0	0	0	26.21	26.22	26.22	10.40	50.47
112	-1.58	-576.7	1834	1943	3158	4094	8.2	-12.6	13	120	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	1943	3158	3158	4095	0	0	0	0	0	0	26.25	26.26	26.26	10.40	49.88
156	-1.58	-576.7	1834	1943	3159	4095	14.3	-14.0	19	166	0.00	1.12	0.00	0.000	260	0.000	0.044	1834	2365	3160	3160	4095	0	0	0	0	0	0	26.29	26.01	26.29	10.40	49.44
229	-1.58	-576.7	1834	2365	3160	4095	22.7	-11.2	29	239	0.00	1.05	0.00	0.000	1030	0.000	0.029	1834	1949	3161	3161	4094	0	0	0	0	0	0	26.12	26.11	26.14	10.39	49.88
276	-1.58	-576.7	1834	1949	3161	4094	27.5	-10.5	35	284	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	1949	3162	3162	4095	0	0	0	0	0	0	26.36	26.38	26.37	10.39	49.72
320	-1.58	-576.7	1834	1949	3162	4095	32.1	-9.9	41	329	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1949	3162	3162	4095	0	0	0	0	0	0	26.39	26.41	26.40	10.38	48.93
364	-1.58	-576.7	1834	1949	3163	4095	36.5	-10.2	47	374	0.00	1.10	0.00	0.000	516	0.000	0.051	1834	1519	3163	3163	4095	0	0	0	0	0	0	26.41	26.11	26.43	10.37	48.30
429	-1.58	-576.7	1834	1519	3164	4095	43.3	-10.4	56	438	0.00	0.98	0.00	0.000	1030	0.000	0.026	1834	1939	3165	3165	4094	0	0	0	0	0	0	26.25	26.21	26.26	10.36	48.50
474	-1.58	-576.7	1834	1939	3165	4094	47.9	-10.4	62	483	0.00	1.12	0.00	0.000	260	0.000	0.047	1834	2370	3165	3165	4095	0	0	0	0	0	0	26.46	26.17	26.48	10.35	47.40
532	-1.58	-576.7	1834	2370	3166	4095	54.1	-10.5	70	541	0.00	1.02	0.00	0.000	1030	0.000	0.032	1834	1965	3166	3166	4095	0	0	0	0	0	0	26.27	26.25	26.32	10.34	47.71
578	-1.58	-576.7	1833	1965	3167	4095	58.9	-11.1	76	586	0.00	0.00	0.00	0.000	6	0.000	0.000	1834	1965	3167	3167	4095	0	0	0	0	0	0	26.51	26.52	26.52	10.34	47.32
593	end dive: TARGET_DEPTH_EXCEEDED
state	594	begin apogee
599	-0.45	0.0	1834	1964	3168	4094	61.0	-11.2	78	643	3.83	0.00	32.90	1.320	10244	0.054	0.000	2187	1964	2482	2482	4094	0	0	0	0	0	0	26.23	24.97	24.25	10.34	47.04
644	end apogee: CONTROL_FINISHED_OK
state	644	begin climb
646	1.58	576.7	2186	1964	2483	4094	63.7	0.0	83	690	6.97	0.00	32.95	1.293	11270	0.037	0.000	2831	1964	1812	1812	4094	0	0	0	0	0	0	25.46	25.63	23.77	10.19	46.25
728	1.58	576.7	2831	1964	1811	4094	58.1	9.1	93	736	0.00	1.10	0.00	0.000	260	0.000	0.040	2831	2363	1812	1812	4094	0	0	0	0	0	0	25.44	25.18	25.44	10.05	45.11
774	1.58	576.7	2830	2363	1810	4094	53.3	10.4	99	783	0.00	1.05	0.00	0.000	1030	0.000	0.028	2831	1959	1810	1810	4094	0	0	0	0	0	0	25.44	25.41	25.45	10.04	45.31
821	1.58	576.7	2831	1959	1809	4094	48.5	9.9	105	829	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1959	1809	1809	4094	0	0	0	0	0	0	25.78	25.79	25.79	10.03	45.35
865	1.58	576.7	2830	1959	1808	4094	43.9	10.0	111	873	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1960	1808	1808	4094	0	0	0	0	0	0	25.87	25.89	25.89	10.04	45.51
909	1.58	576.7	2831	1959	1807	4094	39.5	9.7	117	918	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1960	1807	1807	4094	0	0	0	0	0	0	25.96	25.97	25.96	10.03	45.94
954	1.58	576.7	2830	1959	1805	4094	34.9	10.2	123	963	0.00	1.12	0.00	0.000	260	0.000	0.041	2831	2372	1806	1806	4094	0	0	0	0	0	0	26.02	25.75	26.03	10.03	46.22
1013	1.58	576.7	2831	2371	1805	4094	28.9	10.5	131	1023	0.00	1.08	0.00	0.000	1030	0.000	0.031	2831	1954	1804	1804	4094	0	0	0	0	0	0	25.90	25.84	25.90	10.03	46.77
1061	1.58	576.7	2831	1954	1803	4094	24.0	10.2	137	1069	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1954	1803	1803	4094	0	0	0	0	0	0	26.14	26.16	26.15	10.05	47.44
1107	1.58	576.7	2831	1954	1803	4094	19.6	9.5	143	1115	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1954	1803	1803	4094	0	0	0	0	0	0	26.19	26.20	26.20	10.06	47.48
1153	1.58	576.7	2830	1954	1801	4094	15.4	8.8	149	1161	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	1954	1801	1801	4094	0	0	0	0	0	0	26.22	26.24	26.24	10.07	48.14
1197	1.60	594.0	2830	1954	1801	4094	11.6	8.2	155	1206	0.00	0.00	2.35	0.148	8198	0.000	0.000	2831	1954	1788	1788	4094	0	0	0	0	0	0	26.26	25.69	25.21	10.08	49.25
1244	1.68	643.0	2830	1954	1789	4094	8.0	7.8	161	1254	0.22	0.00	4.15	0.431	10246	0.045	0.000	2865	1953	1733	1733	4094	0	0	0	0	0	0	26.08	25.87	25.25	10.08	49.17
1292	1.68	643.0	2865	1953	1733	4094	3.9	8.8	167	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1954	1733	1733	4094	0	0	0	0	0	0	26.27	26.29	26.29	10.08	49.76
1308	end climb: FINISH_DEPTH_REACHED
state	1308	begin subsurface finish
1314	0.13	83.4	2865	1953	1732	4094	1.9	9.2	169	1333	5.22	0.00	-5.62	0.000	20486	0.055	0.000	2387	1954	2387	2387	4094	0	0	0	0	0	0	26.01	25.54	26.08	10.09	50.27
1334	end subsurface finish: CONTROL_FINISHED_OK
state	1334	begin surface