Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 548 * 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 548 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 548 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 050817,153257,6005.5332,-17308.7520,5,0.8,21,7.3,0.5,53.8,10,4.8 TGT_NAME W6N

_CALLS 1 TGT_LATLONG 6006.060,-17319.020

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.382433,0.014605

_SM_DEPTHo 0.26 KALMAN_X 62003.761719,-2479.381836,-575.620361,-213527.515625,84.080322

_SM_ANGLEo -1.2 KALMAN_Y 43319.375000,833.729004,121.163048,48730.878906,25.817696

GPS2 050817,153257,6005.5332,-17308.7520,5,0.8,21,7.3,0.5,53.8,10,4.8 MHEAD_RNG_PITCHd_Wd 264.9,9529,-7.8,-8.333,-12.28,10222

SPEED_LIMITS 0.229,0.384 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.0,1.024192,98 _10V_AH 10.14,17.716

FINISH2 0.2 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5925.93,-17425.36,050817,140249 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.247919 MEM 330888

HUMID 50.55 DATA_FILE_SIZE 17799,173

INTERNAL_PRESSURE 10.1993 CAP_FILE_SIZE 33416,0

TCM_TEMP 2.40 CFSIZE 1024409600,992542720

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

_24V_AH 23.81,14.289 GPS 050817,153257,6005.533,-17308.752,5,0.8,21,7.3,0.5,53.8,10,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 54 28.77 SBE_CT 117 24 67.13

Roll_motor 6 62 9.67 AA4831 469 33 369.20

VBD_pump_during_apogee 74 1308 2308.57 WL_blue_red_Chl 372 105 930.36

VBD_pump_during_surface 0 0 0.00 SAT1000 551 17 233.61

VBD_valve 0 0 0.00 SAT1001 716 17 303.74

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 466 19 93.71

LPSleep 0 0 0.00

TT8_Active 160 19 32.26

TT8_Sampling 719 39 290.45

TT8_CF8 59 45 27.83

TT8_Kalman 33 81 27.73

Analog_circuits 461 12 56.15

GPS_charging 0 0 0.00

Compass 417 15 63.49

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 -578.6 2393 1960 2369 4092 0.0 0.0 0 21 5.75 0.00 -5.15 0.000 20482 0.024 0.000 1835 1960 2932 2932 4095 0 0 0 0 0 0 26.11 28.83 26.13 10.29 50.55

24 -1.58 -578.6 1835 1960 2932 4095 0.2 0.0 1 33 0.00 0.00 -2.15 0.000 16390 0.000 0.000 1835 1960 3162 3162 4094 0 0 0 0 0 0 26.29 25.62 26.29 10.41 51.06

69 -1.58 -578.6 1835 1960 3163 4094 3.8 -12.1 7 77 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1960 3163 3163 4095 0 0 0 0 0 0 26.21 26.22 26.22 10.46 50.66

113 -1.58 -578.6 1835 1960 3164 4095 9.7 -13.0 13 122 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1960 3165 3165 4094 0 0 0 0 0 0 26.26 26.27 26.27 10.46 50.59

158 -1.58 -578.6 1835 1960 3165 4094 14.8 -12.0 19 167 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1960 3165 3165 4094 0 0 0 0 0 0 26.29 26.31 26.30 10.44 49.96

202 -1.58 -578.6 1834 1960 3166 4094 19.8 -11.3 25 210 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1960 3166 3166 4095 0 0 0 0 0 0 26.33 26.34 26.34 10.41 50.47

246 -1.58 -578.6 1834 1960 3167 4095 24.5 -10.7 31 254 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1960 3167 3167 4095 0 0 0 0 0 0 26.36 26.36 26.37 10.40 49.17

290 -1.58 -578.6 1835 1960 3167 4095 29.4 -11.1 37 299 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1960 3168 3168 4094 0 0 0 0 0 0 26.38 26.40 26.39 10.39 48.22

335 -1.58 -578.6 1834 1960 3169 4094 34.2 -10.7 43 343 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1960 3169 3169 4095 0 0 0 0 0 0 26.41 26.42 26.42 10.38 47.67

379 -1.58 -578.6 1834 1960 3170 4095 38.9 -10.6 49 388 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1960 3170 3170 4095 0 0 0 0 0 0 26.43 26.45 26.44 10.38 47.71

424 -1.58 -578.6 1834 1960 3170 4095 43.6 -10.8 55 433 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1960 3171 3171 4095 0 0 0 0 0 0 26.46 26.47 26.46 10.38 47.36

468 -1.58 -578.6 1835 1960 3171 4095 48.5 -11.2 61 478 0.00 1.15 0.00 0.000 516 0.000 0.050 1835 1512 3171 3171 4095 0 0 0 0 0 0 26.48 26.20 26.48 10.38 46.81

534 -1.58 -578.6 1835 1512 3173 4095 55.8 -11.4 70 543 0.00 1.02 0.00 0.000 1030 0.000 0.027 1835 1952 3172 3172 4094 0 0 0 0 0 0 26.33 26.27 26.32 10.36 47.00

572 end dive: TARGET_DEPTH_EXCEEDED

state 572 begin apogee

577 -0.45 0.0 1835 1951 3173 4095 60.1 -10.9 75 621 3.80 0.00 33.10 1.309 10246 0.054 0.000 2185 1953 2484 2484 4094 0 0 0 0 0 0 26.23 24.98 24.27 10.36 46.25

622 end apogee: CONTROL_FINISHED_OK

state 622 begin climb

625 1.58 578.6 2185 1953 2483 4094 62.7 0.0 80 669 6.95 0.00 33.00 1.281 10246 0.036 0.000 2831 1955 1810 1810 4095 0 0 0 0 0 0 25.48 24.70 23.81 10.22 45.98

707 1.58 578.6 2830 1955 1809 4095 57.5 9.4 90 715 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1955 1810 1810 4094 0 0 0 0 0 0 25.46 25.47 25.47 10.07 44.92

753 1.58 578.6 2830 1954 1808 4094 53.1 9.6 96 762 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1955 1808 1808 4094 0 0 0 0 0 0 25.67 25.68 25.68 10.06 45.35

799 1.58 578.6 2830 1954 1807 4094 48.7 9.7 102 808 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1955 1807 1807 4095 0 0 0 0 0 0 25.80 25.82 25.82 10.06 45.31

845 1.58 578.6 2830 1954 1806 4095 44.2 9.7 108 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1955 1806 1806 4094 0 0 0 0 0 0 25.90 25.91 25.91 10.06 45.66

891 1.58 578.6 2830 1955 1805 4094 39.8 9.7 114 900 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1955 1806 1806 4094 0 0 0 0 0 0 25.98 25.99 25.99 10.05 46.22

938 1.58 578.6 2830 1955 1804 4094 35.1 10.0 120 946 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1955 1804 1804 4094 0 0 0 0 0 0 26.05 26.06 26.06 10.05 46.25

984 1.58 578.6 2830 1954 1803 4094 30.7 9.1 126 992 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1955 1803 1803 4094 0 0 0 0 0 0 26.11 26.13 26.12 10.04 46.10

1027 1.58 578.6 2830 1955 1803 4094 26.5 9.2 132 1037 0.00 1.10 0.00 0.000 260 0.000 0.043 2830 2367 1802 1802 4094 0 0 0 0 0 0 26.15 25.87 26.17 10.05 46.33

1088 1.58 578.6 2830 2366 1801 4094 21.1 9.2 140 1096 0.00 1.08 0.00 0.000 1030 0.000 0.031 2831 1947 1800 1800 4094 0 0 0 0 0 0 26.00 25.96 26.02 10.05 47.20

1132 1.58 578.6 2830 1947 1800 4094 16.9 9.3 146 1140 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1947 1800 1800 4094 0 0 0 0 0 0 26.25 26.27 26.26 10.06 47.24

1176 1.58 578.6 2830 1947 1799 4094 13.1 8.6 152 1184 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 1947 1799 1799 4094 0 0 0 0 0 0 26.28 26.30 26.29 10.06 47.79

1221 1.59 586.4 2830 1947 1798 4094 9.4 8.3 158 1229 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1947 1798 1798 4094 0 0 0 0 0 0 26.32 26.33 26.32 10.08 47.83

1265 1.59 586.4 2830 1947 1797 4094 5.5 8.4 164 1274 0.00 1.12 0.00 0.000 516 0.000 0.063 2831 1521 1797 1797 4094 0 0 0 0 0 0 26.34 26.03 26.35 10.11 48.89

1298 1.78 715.1 2830 1520 1796 4094 3.2 7.0 168 1317 0.55 1.00 7.97 0.562 11270 0.027 0.026 2891 1959 1649 1649 4094 0 0 0 0 0 0 26.15 26.15 25.32 10.12 49.96

1325 end climb: FINISH_DEPTH_REACHED

state 1325 begin subsurface finish

1332 0.15 98.1 2891 1965 1649 4094 1.0 7.4 171 1349 5.20 0.00 -6.35 0.000 20486 0.030 0.000 2392 1965 2373 2373 4094 0 0 0 0 0 0 26.06 25.53 26.10 10.10 49.72

1350 end subsurface finish: CONTROL_FINISHED_OK

state 1350 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	548	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	050817,153257,6005.5332,-17308.7520,5,0.8,21,7.3,0.5,53.8,10,4.8	TGT_NAME	W6N
_CALLS	1	TGT_LATLONG	6006.060,-17319.020
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.382433,0.014605
_SM_DEPTHo	0.26	KALMAN_X	62003.761719,-2479.381836,-575.620361,-213527.515625,84.080322
_SM_ANGLEo	-1.2	KALMAN_Y	43319.375000,833.729004,121.163048,48730.878906,25.817696
GPS2	050817,153257,6005.5332,-17308.7520,5,0.8,21,7.3,0.5,53.8,10,4.8	MHEAD_RNG_PITCHd_Wd	264.9,9529,-7.8,-8.333,-12.28,10222
SPEED_LIMITS	0.229,0.384	D_GRID	60

FINISH1	1.0,1.024192,98	_10V_AH	10.14,17.716
FINISH2	0.2	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5925.93,-17425.36,050817,140249	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.247919	MEM	330888
HUMID	50.55	DATA_FILE_SIZE	17799,173
INTERNAL_PRESSURE	10.1993	CAP_FILE_SIZE	33416,0
TCM_TEMP	2.40	CFSIZE	1024409600,992542720
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.81,14.289	GPS	050817,153257,6005.533,-17308.752,5,0.8,21,7.3,0.5,53.8,10,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	54	28.77	SBE_CT	117	24	67.13
Roll_motor	6	62	9.67	AA4831	469	33	369.20
VBD_pump_during_apogee	74	1308	2308.57	WL_blue_red_Chl	372	105	930.36
VBD_pump_during_surface	0	0	0.00	SAT1000	551	17	233.61
VBD_valve	0	0	0.00	SAT1001	716	17	303.74
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	466	19	93.71
LPSleep	0	0	0.00
TT8_Active	160	19	32.26
TT8_Sampling	719	39	290.45
TT8_CF8	59	45	27.83
TT8_Kalman	33	81	27.73
Analog_circuits	461	12	56.15
GPS_charging	0	0	0.00
Compass	417	15	63.49
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	-578.6	2393	1960	2369	4092	0.0	0.0	0	21	5.75	0.00	-5.15	0.000	20482	0.024	0.000	1835	1960	2932	2932	4095	0	0	0	0	0	0	26.11	28.83	26.13	10.29	50.55
24	-1.58	-578.6	1835	1960	2932	4095	0.2	0.0	1	33	0.00	0.00	-2.15	0.000	16390	0.000	0.000	1835	1960	3162	3162	4094	0	0	0	0	0	0	26.29	25.62	26.29	10.41	51.06
69	-1.58	-578.6	1835	1960	3163	4094	3.8	-12.1	7	77	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1960	3163	3163	4095	0	0	0	0	0	0	26.21	26.22	26.22	10.46	50.66
113	-1.58	-578.6	1835	1960	3164	4095	9.7	-13.0	13	122	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1960	3165	3165	4094	0	0	0	0	0	0	26.26	26.27	26.27	10.46	50.59
158	-1.58	-578.6	1835	1960	3165	4094	14.8	-12.0	19	167	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1960	3165	3165	4094	0	0	0	0	0	0	26.29	26.31	26.30	10.44	49.96
202	-1.58	-578.6	1834	1960	3166	4094	19.8	-11.3	25	210	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1960	3166	3166	4095	0	0	0	0	0	0	26.33	26.34	26.34	10.41	50.47
246	-1.58	-578.6	1834	1960	3167	4095	24.5	-10.7	31	254	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1960	3167	3167	4095	0	0	0	0	0	0	26.36	26.36	26.37	10.40	49.17
290	-1.58	-578.6	1835	1960	3167	4095	29.4	-11.1	37	299	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1960	3168	3168	4094	0	0	0	0	0	0	26.38	26.40	26.39	10.39	48.22
335	-1.58	-578.6	1834	1960	3169	4094	34.2	-10.7	43	343	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1960	3169	3169	4095	0	0	0	0	0	0	26.41	26.42	26.42	10.38	47.67
379	-1.58	-578.6	1834	1960	3170	4095	38.9	-10.6	49	388	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1960	3170	3170	4095	0	0	0	0	0	0	26.43	26.45	26.44	10.38	47.71
424	-1.58	-578.6	1834	1960	3170	4095	43.6	-10.8	55	433	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1960	3171	3171	4095	0	0	0	0	0	0	26.46	26.47	26.46	10.38	47.36
468	-1.58	-578.6	1835	1960	3171	4095	48.5	-11.2	61	478	0.00	1.15	0.00	0.000	516	0.000	0.050	1835	1512	3171	3171	4095	0	0	0	0	0	0	26.48	26.20	26.48	10.38	46.81
534	-1.58	-578.6	1835	1512	3173	4095	55.8	-11.4	70	543	0.00	1.02	0.00	0.000	1030	0.000	0.027	1835	1952	3172	3172	4094	0	0	0	0	0	0	26.33	26.27	26.32	10.36	47.00
572	end dive: TARGET_DEPTH_EXCEEDED
state	572	begin apogee
577	-0.45	0.0	1835	1951	3173	4095	60.1	-10.9	75	621	3.80	0.00	33.10	1.309	10246	0.054	0.000	2185	1953	2484	2484	4094	0	0	0	0	0	0	26.23	24.98	24.27	10.36	46.25
622	end apogee: CONTROL_FINISHED_OK
state	622	begin climb
625	1.58	578.6	2185	1953	2483	4094	62.7	0.0	80	669	6.95	0.00	33.00	1.281	10246	0.036	0.000	2831	1955	1810	1810	4095	0	0	0	0	0	0	25.48	24.70	23.81	10.22	45.98
707	1.58	578.6	2830	1955	1809	4095	57.5	9.4	90	715	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1955	1810	1810	4094	0	0	0	0	0	0	25.46	25.47	25.47	10.07	44.92
753	1.58	578.6	2830	1954	1808	4094	53.1	9.6	96	762	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1955	1808	1808	4094	0	0	0	0	0	0	25.67	25.68	25.68	10.06	45.35
799	1.58	578.6	2830	1954	1807	4094	48.7	9.7	102	808	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1955	1807	1807	4095	0	0	0	0	0	0	25.80	25.82	25.82	10.06	45.31
845	1.58	578.6	2830	1954	1806	4095	44.2	9.7	108	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1955	1806	1806	4094	0	0	0	0	0	0	25.90	25.91	25.91	10.06	45.66
891	1.58	578.6	2830	1955	1805	4094	39.8	9.7	114	900	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1955	1806	1806	4094	0	0	0	0	0	0	25.98	25.99	25.99	10.05	46.22
938	1.58	578.6	2830	1955	1804	4094	35.1	10.0	120	946	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1955	1804	1804	4094	0	0	0	0	0	0	26.05	26.06	26.06	10.05	46.25
984	1.58	578.6	2830	1954	1803	4094	30.7	9.1	126	992	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1955	1803	1803	4094	0	0	0	0	0	0	26.11	26.13	26.12	10.04	46.10
1027	1.58	578.6	2830	1955	1803	4094	26.5	9.2	132	1037	0.00	1.10	0.00	0.000	260	0.000	0.043	2830	2367	1802	1802	4094	0	0	0	0	0	0	26.15	25.87	26.17	10.05	46.33
1088	1.58	578.6	2830	2366	1801	4094	21.1	9.2	140	1096	0.00	1.08	0.00	0.000	1030	0.000	0.031	2831	1947	1800	1800	4094	0	0	0	0	0	0	26.00	25.96	26.02	10.05	47.20
1132	1.58	578.6	2830	1947	1800	4094	16.9	9.3	146	1140	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1947	1800	1800	4094	0	0	0	0	0	0	26.25	26.27	26.26	10.06	47.24
1176	1.58	578.6	2830	1947	1799	4094	13.1	8.6	152	1184	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	1947	1799	1799	4094	0	0	0	0	0	0	26.28	26.30	26.29	10.06	47.79
1221	1.59	586.4	2830	1947	1798	4094	9.4	8.3	158	1229	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1947	1798	1798	4094	0	0	0	0	0	0	26.32	26.33	26.32	10.08	47.83
1265	1.59	586.4	2830	1947	1797	4094	5.5	8.4	164	1274	0.00	1.12	0.00	0.000	516	0.000	0.063	2831	1521	1797	1797	4094	0	0	0	0	0	0	26.34	26.03	26.35	10.11	48.89
1298	1.78	715.1	2830	1520	1796	4094	3.2	7.0	168	1317	0.55	1.00	7.97	0.562	11270	0.027	0.026	2891	1959	1649	1649	4094	0	0	0	0	0	0	26.15	26.15	25.32	10.12	49.96
1325	end climb: FINISH_DEPTH_REACHED
state	1325	begin subsurface finish
1332	0.15	98.1	2891	1965	1649	4094	1.0	7.4	171	1349	5.20	0.00	-6.35	0.000	20486	0.030	0.000	2392	1965	2373	2373	4094	0	0	0	0	0	0	26.06	25.53	26.10	10.10	49.72
1350	end subsurface finish: CONTROL_FINISHED_OK
state	1350	begin surface