Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 640 * 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 640 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 16 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 67 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 16 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 67 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 640 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 070817,105756,6027.2222,-17333.4629,12,0.9,36,7.1,0.0,188.6,10,4.7 TGT_NAME W8N

_CALLS 1 TGT_LATLONG 6044.340,-17338.881

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.076487,0.416645

_SM_DEPTHo 0.83 KALMAN_X 64381.570312,-1560.658691,-112.629936,-240660.046875,71.916710

_SM_ANGLEo -41.0 KALMAN_Y 43970.437500,2954.063721,788.426086,85379.500000,-363.706482

GPS2 070817,110545,6027.1758,-17333.4512,9,0.9,17,7.1,0.0,133.9,9,4.2 MHEAD_RNG_PITCHd_Wd 342.5,32166,-6.3,-8.333,-11.13,13180

SPEED_LIMITS 0.229,0.384 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.1,1.024252,94 _10V_AH 10.18,20.988

FINISH2 0.2 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5952.82,-17420.78,070817,093209 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.248668 MEM 329364

HUMID 50.94 DATA_FILE_SIZE 17823,194

INTERNAL_PRESSURE 10.2774 CAP_FILE_SIZE 44267,0

TCM_TEMP 4.90 CFSIZE 1024409600,988020736

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

_24V_AH 23.87,17.202 GPS 070817,110545,6027.176,-17333.451,9,0.9,17,7.1,0.0,133.9,9,4.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 97 81.87 SBE_CT 131 24 75.36

Roll_motor 18 1267 568.09 AA4831 526 33 415.12

VBD_pump_during_apogee 85 1298 2664.21 WL_blue_red_Chl 417 105 1045.73

VBD_pump_during_surface 0 0 0.00 SAT1000 618 17 262.61

VBD_valve 0 0 0.00 SAT1001 805 17 342.11

Iridium_during_init 22 103 55.21 nil 0 0 0.00

Iridium_during_connect 18 160 71.11 nil 0 0 0.00

Iridium_during_xfer 285 223 1521.64 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 9.76

TT8 540 19 108.90

LPSleep 0 0 0.00

TT8_Active 169 19 34.08

TT8_Sampling 1138 39 461.42

TT8_CF8 160 45 74.83

TT8_Kalman 33 81 27.85

Analog_circuits 496 12 60.67

GPS_charging 0 0 0.00

Compass 468 15 71.58

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 -1.45 -585.0 237 1943 1786 4092 0.0 0.0 0 21 10.27 0.00 0.00 0.000 2049 0.098 0.000 1101 1944 1786 1786 4094 0 0 0 0 0 0 26.22 28.83 28.83 10.26 49.60

23 -1.45 -585.0 1101 1943 1786 4094 0.8 0.0 1 51 8.18 1.08 -12.55 0.000 18692 0.042 1.268 1867 2344 3168 3168 4094 0 0 0 0 0 0 25.95 24.79 26.02 10.27 49.60

154 -1.45 -585.0 1866 2343 3170 4094 9.9 -10.5 19 164 0.00 1.02 0.00 0.000 1030 0.000 0.028 1867 1932 3170 3170 4095 0 0 0 0 0 0 26.04 26.01 26.06 10.58 48.93

201 -1.45 -585.0 1866 1932 3171 4095 15.2 -11.2 25 211 0.00 1.02 0.00 0.000 516 0.000 0.049 1867 1526 3169 3169 4094 0 0 0 0 0 0 26.30 26.01 26.32 10.57 48.50

248 -1.45 -585.0 1866 1526 3172 4094 20.2 -10.1 31 258 0.00 0.88 0.00 0.000 1030 0.000 0.024 1867 1920 3172 3172 4095 0 0 0 0 0 0 26.15 26.13 26.13 10.56 47.87

296 -1.45 -585.0 1866 1920 3173 4095 24.7 -9.4 37 304 0.00 0.00 0.00 0.000 6 0.000 0.000 1867 1920 3173 3173 4094 0 0 0 0 0 0 26.37 26.39 26.39 10.53 47.36

340 -1.45 -585.0 1866 1921 3173 4094 28.9 -9.0 43 348 0.00 0.00 0.00 0.000 6 0.000 0.000 1867 1921 3173 3173 4094 0 0 0 0 0 0 26.40 26.42 26.41 10.50 47.55

384 -1.45 -585.0 1866 1922 3174 4094 32.8 -9.1 49 392 0.00 0.00 0.00 0.000 6 0.000 0.000 1867 1922 3174 3174 4095 0 0 0 0 0 0 26.44 26.44 26.44 10.48 46.06

428 -1.45 -585.0 1866 1922 3175 4095 37.0 -9.3 55 437 0.00 1.12 0.00 0.000 260 0.000 0.041 1867 2355 3175 3175 4094 0 0 0 0 0 0 26.46 26.18 26.47 10.47 45.55

466 -1.45 -585.0 1866 2355 3175 4094 40.6 -9.4 60 476 0.00 1.05 0.00 0.000 1030 0.000 0.028 1866 1931 3175 3175 4094 0 0 0 0 0 0 26.27 26.22 26.27 10.46 45.55

514 -1.45 -585.0 1866 1931 3176 4094 44.8 -8.8 66 523 0.00 0.00 0.00 0.000 6 0.000 0.000 1867 1931 3176 3176 4095 0 0 0 0 0 0 26.50 26.51 26.51 10.45 45.23

560 -1.45 -585.0 1866 1931 3177 4095 48.9 -9.1 72 570 0.00 1.12 0.00 0.000 260 0.000 0.041 1867 2357 3177 3177 4095 0 0 0 0 0 0 26.52 26.23 26.53 10.44 44.25

612 -1.45 -585.0 1866 2356 3177 4095 53.9 -9.2 79 621 0.00 1.00 0.00 0.000 1030 0.000 0.028 1867 1949 3178 3178 4095 0 0 0 0 0 0 26.32 26.28 26.34 10.44 44.84

658 -1.45 -585.0 1866 1949 3178 4095 58.1 -9.0 85 667 0.00 0.00 0.00 0.000 6 0.000 0.000 1867 1949 3178 3178 4095 0 0 0 0 0 0 26.56 26.58 26.57 10.43 44.25

681 end dive: TARGET_DEPTH_EXCEEDED

state 681 begin apogee

687 -0.45 0.0 1866 1949 3179 4094 60.5 -9.4 88 731 3.40 0.00 33.00 1.298 10244 0.049 0.000 2185 1949 2488 2488 4095 0 0 0 0 0 0 26.29 25.03 24.32 10.42 44.48

732 end apogee: CONTROL_FINISHED_OK

state 732 begin climb

734 1.45 585.0 2185 1949 2488 4095 62.6 0.0 93 779 6.47 0.00 33.50 1.274 11270 0.037 0.000 2788 1949 1802 1802 4094 0 0 0 0 0 0 25.56 25.70 23.87 10.28 44.13

817 1.45 585.0 2787 1949 1801 4094 57.8 8.5 103 826 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 1949 1801 1801 4094 0 0 0 0 0 0 25.53 25.55 25.54 10.13 43.38

864 1.45 585.0 2787 1949 1801 4094 53.7 8.6 109 872 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 1949 1800 1800 4094 0 0 0 0 0 0 25.74 25.75 25.75 10.12 43.66

910 1.45 585.0 2787 1949 1800 4094 49.8 8.4 115 918 0.00 1.08 0.00 0.000 260 0.000 0.038 2788 2351 1800 1800 4094 0 0 0 0 0 0 25.87 25.61 25.88 10.12 44.25

1000 1.45 585.0 2788 2351 1798 4094 41.9 8.9 128 1010 0.00 0.98 0.00 0.000 1030 0.000 0.029 2788 1968 1798 1798 4094 0 0 0 0 0 0 25.84 25.81 25.85 10.10 44.84

1047 1.45 585.0 2788 1967 1797 4094 37.9 8.6 134 1056 0.00 1.17 0.00 0.000 516 0.000 0.055 2788 1520 1796 1796 4095 0 0 0 0 0 0 26.11 25.82 26.13 10.10 44.80

1099 1.45 585.0 2788 1520 1796 4095 33.5 8.5 141 1107 0.00 1.00 0.00 0.000 1030 0.000 0.026 2789 1962 1795 1795 4094 0 0 0 0 0 0 26.00 25.98 26.01 10.10 45.23

1144 1.45 585.0 2788 1961 1795 4094 29.8 8.4 147 1153 0.00 1.02 0.00 0.000 260 0.000 0.041 2788 2353 1795 1795 4095 0 0 0 0 0 0 26.22 25.98 26.24 10.09 46.02

1202 1.45 585.0 2787 2352 1794 4095 24.7 8.7 155 1212 0.00 1.00 0.00 0.000 1030 0.000 0.031 2788 1959 1794 1794 4094 0 0 0 0 0 0 26.06 26.03 26.08 10.10 45.58

1250 1.54 643.8 2788 1958 1792 4094 21.0 7.9 161 1261 0.17 1.15 4.40 0.517 10756 0.056 0.054 2812 1515 1733 1733 4094 0 0 0 0 0 0 26.10 25.92 25.14 10.12 47.24

1332 1.78 805.0 2812 1515 1731 4094 15.0 7.1 172 1351 0.73 0.98 9.90 0.682 11270 0.026 0.025 2891 1953 1544 1544 4094 0 0 0 0 0 0 26.13 26.17 25.14 10.14 48.42

1389 1.88 873.5 2890 1953 1543 4094 10.4 7.8 179 1400 0.28 1.05 5.18 0.500 10500 0.044 0.039 2925 2354 1464 1464 4094 0 0 0 0 0 0 26.02 25.85 25.17 10.13 50.07

1430 1.88 873.5 2925 2354 1464 4094 6.8 8.8 184 1439 0.00 1.05 0.00 0.000 1030 0.000 0.031 2925 1944 1463 1463 4094 0 0 0 0 0 0 26.01 26.01 26.03 10.12 50.43

1477 1.88 873.5 2925 1943 1463 4094 2.8 8.6 190 1485 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 1944 1463 1463 4094 0 0 0 0 0 0 26.27 26.29 26.29 10.13 50.51

1492 end climb: FINISH_DEPTH_REACHED

state 1493 begin subsurface finish

1499 0.14 93.9 2925 1943 1462 4094 1.1 8.7 192 1518 5.53 0.00 -7.85 0.000 20486 0.024 0.000 2386 1943 2381 2381 4094 0 0 0 0 0 0 26.08 25.08 26.13 10.14 50.00

1519 end subsurface finish: CONTROL_FINISHED_OK

state 1519 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	640	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	16	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	67	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	070817,105756,6027.2222,-17333.4629,12,0.9,36,7.1,0.0,188.6,10,4.7	TGT_NAME	W8N
_CALLS	1	TGT_LATLONG	6044.340,-17338.881
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.076487,0.416645
_SM_DEPTHo	0.83	KALMAN_X	64381.570312,-1560.658691,-112.629936,-240660.046875,71.916710
_SM_ANGLEo	-41.0	KALMAN_Y	43970.437500,2954.063721,788.426086,85379.500000,-363.706482
GPS2	070817,110545,6027.1758,-17333.4512,9,0.9,17,7.1,0.0,133.9,9,4.2	MHEAD_RNG_PITCHd_Wd	342.5,32166,-6.3,-8.333,-11.13,13180
SPEED_LIMITS	0.229,0.384	D_GRID	60

FINISH1	1.1,1.024252,94	_10V_AH	10.18,20.988
FINISH2	0.2	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5952.82,-17420.78,070817,093209	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.248668	MEM	329364
HUMID	50.94	DATA_FILE_SIZE	17823,194
INTERNAL_PRESSURE	10.2774	CAP_FILE_SIZE	44267,0
TCM_TEMP	4.90	CFSIZE	1024409600,988020736
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
_24V_AH	23.87,17.202	GPS	070817,110545,6027.176,-17333.451,9,0.9,17,7.1,0.0,133.9,9,4.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	97	81.87	SBE_CT	131	24	75.36
Roll_motor	18	1267	568.09	AA4831	526	33	415.12
VBD_pump_during_apogee	85	1298	2664.21	WL_blue_red_Chl	417	105	1045.73
VBD_pump_during_surface	0	0	0.00	SAT1000	618	17	262.61
VBD_valve	0	0	0.00	SAT1001	805	17	342.11
Iridium_during_init	22	103	55.21	nil	0	0	0.00
Iridium_during_connect	18	160	71.11	nil	0	0	0.00
Iridium_during_xfer	285	223	1521.64	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	9.76
TT8	540	19	108.90
LPSleep	0	0	0.00
TT8_Active	169	19	34.08
TT8_Sampling	1138	39	461.42
TT8_CF8	160	45	74.83
TT8_Kalman	33	81	27.85
Analog_circuits	496	12	60.67
GPS_charging	0	0	0.00
Compass	468	15	71.58
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	-1.45	-585.0	237	1943	1786	4092	0.0	0.0	0	21	10.27	0.00	0.00	0.000	2049	0.098	0.000	1101	1944	1786	1786	4094	0	0	0	0	0	0	26.22	28.83	28.83	10.26	49.60
23	-1.45	-585.0	1101	1943	1786	4094	0.8	0.0	1	51	8.18	1.08	-12.55	0.000	18692	0.042	1.268	1867	2344	3168	3168	4094	0	0	0	0	0	0	25.95	24.79	26.02	10.27	49.60
154	-1.45	-585.0	1866	2343	3170	4094	9.9	-10.5	19	164	0.00	1.02	0.00	0.000	1030	0.000	0.028	1867	1932	3170	3170	4095	0	0	0	0	0	0	26.04	26.01	26.06	10.58	48.93
201	-1.45	-585.0	1866	1932	3171	4095	15.2	-11.2	25	211	0.00	1.02	0.00	0.000	516	0.000	0.049	1867	1526	3169	3169	4094	0	0	0	0	0	0	26.30	26.01	26.32	10.57	48.50
248	-1.45	-585.0	1866	1526	3172	4094	20.2	-10.1	31	258	0.00	0.88	0.00	0.000	1030	0.000	0.024	1867	1920	3172	3172	4095	0	0	0	0	0	0	26.15	26.13	26.13	10.56	47.87
296	-1.45	-585.0	1866	1920	3173	4095	24.7	-9.4	37	304	0.00	0.00	0.00	0.000	6	0.000	0.000	1867	1920	3173	3173	4094	0	0	0	0	0	0	26.37	26.39	26.39	10.53	47.36
340	-1.45	-585.0	1866	1921	3173	4094	28.9	-9.0	43	348	0.00	0.00	0.00	0.000	6	0.000	0.000	1867	1921	3173	3173	4094	0	0	0	0	0	0	26.40	26.42	26.41	10.50	47.55
384	-1.45	-585.0	1866	1922	3174	4094	32.8	-9.1	49	392	0.00	0.00	0.00	0.000	6	0.000	0.000	1867	1922	3174	3174	4095	0	0	0	0	0	0	26.44	26.44	26.44	10.48	46.06
428	-1.45	-585.0	1866	1922	3175	4095	37.0	-9.3	55	437	0.00	1.12	0.00	0.000	260	0.000	0.041	1867	2355	3175	3175	4094	0	0	0	0	0	0	26.46	26.18	26.47	10.47	45.55
466	-1.45	-585.0	1866	2355	3175	4094	40.6	-9.4	60	476	0.00	1.05	0.00	0.000	1030	0.000	0.028	1866	1931	3175	3175	4094	0	0	0	0	0	0	26.27	26.22	26.27	10.46	45.55
514	-1.45	-585.0	1866	1931	3176	4094	44.8	-8.8	66	523	0.00	0.00	0.00	0.000	6	0.000	0.000	1867	1931	3176	3176	4095	0	0	0	0	0	0	26.50	26.51	26.51	10.45	45.23
560	-1.45	-585.0	1866	1931	3177	4095	48.9	-9.1	72	570	0.00	1.12	0.00	0.000	260	0.000	0.041	1867	2357	3177	3177	4095	0	0	0	0	0	0	26.52	26.23	26.53	10.44	44.25
612	-1.45	-585.0	1866	2356	3177	4095	53.9	-9.2	79	621	0.00	1.00	0.00	0.000	1030	0.000	0.028	1867	1949	3178	3178	4095	0	0	0	0	0	0	26.32	26.28	26.34	10.44	44.84
658	-1.45	-585.0	1866	1949	3178	4095	58.1	-9.0	85	667	0.00	0.00	0.00	0.000	6	0.000	0.000	1867	1949	3178	3178	4095	0	0	0	0	0	0	26.56	26.58	26.57	10.43	44.25
681	end dive: TARGET_DEPTH_EXCEEDED
state	681	begin apogee
687	-0.45	0.0	1866	1949	3179	4094	60.5	-9.4	88	731	3.40	0.00	33.00	1.298	10244	0.049	0.000	2185	1949	2488	2488	4095	0	0	0	0	0	0	26.29	25.03	24.32	10.42	44.48
732	end apogee: CONTROL_FINISHED_OK
state	732	begin climb
734	1.45	585.0	2185	1949	2488	4095	62.6	0.0	93	779	6.47	0.00	33.50	1.274	11270	0.037	0.000	2788	1949	1802	1802	4094	0	0	0	0	0	0	25.56	25.70	23.87	10.28	44.13
817	1.45	585.0	2787	1949	1801	4094	57.8	8.5	103	826	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	1949	1801	1801	4094	0	0	0	0	0	0	25.53	25.55	25.54	10.13	43.38
864	1.45	585.0	2787	1949	1801	4094	53.7	8.6	109	872	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	1949	1800	1800	4094	0	0	0	0	0	0	25.74	25.75	25.75	10.12	43.66
910	1.45	585.0	2787	1949	1800	4094	49.8	8.4	115	918	0.00	1.08	0.00	0.000	260	0.000	0.038	2788	2351	1800	1800	4094	0	0	0	0	0	0	25.87	25.61	25.88	10.12	44.25
1000	1.45	585.0	2788	2351	1798	4094	41.9	8.9	128	1010	0.00	0.98	0.00	0.000	1030	0.000	0.029	2788	1968	1798	1798	4094	0	0	0	0	0	0	25.84	25.81	25.85	10.10	44.84
1047	1.45	585.0	2788	1967	1797	4094	37.9	8.6	134	1056	0.00	1.17	0.00	0.000	516	0.000	0.055	2788	1520	1796	1796	4095	0	0	0	0	0	0	26.11	25.82	26.13	10.10	44.80
1099	1.45	585.0	2788	1520	1796	4095	33.5	8.5	141	1107	0.00	1.00	0.00	0.000	1030	0.000	0.026	2789	1962	1795	1795	4094	0	0	0	0	0	0	26.00	25.98	26.01	10.10	45.23
1144	1.45	585.0	2788	1961	1795	4094	29.8	8.4	147	1153	0.00	1.02	0.00	0.000	260	0.000	0.041	2788	2353	1795	1795	4095	0	0	0	0	0	0	26.22	25.98	26.24	10.09	46.02
1202	1.45	585.0	2787	2352	1794	4095	24.7	8.7	155	1212	0.00	1.00	0.00	0.000	1030	0.000	0.031	2788	1959	1794	1794	4094	0	0	0	0	0	0	26.06	26.03	26.08	10.10	45.58
1250	1.54	643.8	2788	1958	1792	4094	21.0	7.9	161	1261	0.17	1.15	4.40	0.517	10756	0.056	0.054	2812	1515	1733	1733	4094	0	0	0	0	0	0	26.10	25.92	25.14	10.12	47.24
1332	1.78	805.0	2812	1515	1731	4094	15.0	7.1	172	1351	0.73	0.98	9.90	0.682	11270	0.026	0.025	2891	1953	1544	1544	4094	0	0	0	0	0	0	26.13	26.17	25.14	10.14	48.42
1389	1.88	873.5	2890	1953	1543	4094	10.4	7.8	179	1400	0.28	1.05	5.18	0.500	10500	0.044	0.039	2925	2354	1464	1464	4094	0	0	0	0	0	0	26.02	25.85	25.17	10.13	50.07
1430	1.88	873.5	2925	2354	1464	4094	6.8	8.8	184	1439	0.00	1.05	0.00	0.000	1030	0.000	0.031	2925	1944	1463	1463	4094	0	0	0	0	0	0	26.01	26.01	26.03	10.12	50.43
1477	1.88	873.5	2925	1943	1463	4094	2.8	8.6	190	1485	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	1944	1463	1463	4094	0	0	0	0	0	0	26.27	26.29	26.29	10.13	50.51
1492	end climb: FINISH_DEPTH_REACHED
state	1493	begin subsurface finish
1499	0.14	93.9	2925	1943	1462	4094	1.1	8.7	192	1518	5.53	0.00	-7.85	0.000	20486	0.024	0.000	2386	1943	2381	2381	4094	0	0	0	0	0	0	26.08	25.08	26.13	10.14	50.00
1519	end subsurface finish: CONTROL_FINISHED_OK
state	1519	begin surface