Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 811 * 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 25 ALTIM_TOP_PING_RANGE 0

DIVE 811 HEADING -1 C_ROLL_DIVE 1950 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2105 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 30 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 31 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 33 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 20 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 500 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 45 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 45 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 20

CALL_WAIT 45 HEAD_ERRBAND 30 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 2105 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 25 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 500 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 31 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 811 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 100817,103245,6100.9175,-17345.0566,8,0.9,21,7.1,0.2,185.4,9,4.8 TGT_NAME W9N

_CALLS 4 TGT_LATLONG 6103.960,-17349.740

_XMS_NAKs 1 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.206406,0.336042

_SM_DEPTHo 0.81 KALMAN_X 77362.507812,-734.858765,-314.160217,-265264.781250,91.486694

_SM_ANGLEo -42.7 KALMAN_Y -27248.203125,3151.052734,1091.359863,218373.359375,-197.005737

GPS2 100817,105023,6100.8052,-17345.0664,9,0.9,40,7.1,0.4,206.7,9,4.7 MHEAD_RNG_PITCHd_Wd 321.3,7188,-10.6,-10.000,-14.23,7666

SPEED_LIMITS 0.100,0.386 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.9,1.024145,101 _10V_AH 10.39,25.442

FINISH2 0.4 FG_AHR_24Vo 0.000

IRIDIUM_FIX 6149.06,-17422.35,100817,104255 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.165529 MEM 329316

HUMID 51.29 DATA_FILE_SIZE 14336,175

INTERNAL_PRESSURE 10.2969 CAP_FILE_SIZE 44261,0

TCM_TEMP 7.20 CFSIZE 1024409600,979632128

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

_24V_AH 23.99,21.884 GPS 100817,105023,6100.805,-17345.066,9,0.9,40,7.1,0.4,206.7,9,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 97 79.42 SBE_CT 116 24 66.96

Roll_motor 10 1276 307.07 AA4831 0 0 0.00

VBD_pump_during_apogee 61 1290 1900.20 WL_blue_red_Chl 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 0 0 0.00

VBD_valve 0 0 0.00 SAT1001 0 0 0.00

Iridium_during_init 97 103 241.23 nil 0 0 0.00

Iridium_during_connect 76 160 294.86 nil 0 0 0.00

Iridium_during_xfer 487 223 2608.20 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 41 50 21.59

TT8 460 19 94.76

LPSleep 383 2 8.72

TT8_Active 179 19 36.90

TT8_Sampling 997 39 412.50

TT8_CF8 199 45 94.95

TT8_Kalman 33 81 28.43

Analog_circuits 388 12 48.38

GPS_charging 0 0 0.00

Compass 264 15 41.18

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

9 -1.69 -487.5 230 1941 1899 4092 0.0 0.0 0 18 7.05 0.00 0.00 0.000 2049 0.097 0.000 831 1942 1899 1899 4095 0 0 0 0 0 0 26.25 28.83 28.83 10.36 49.37

21 -1.69 -487.5 830 1941 1899 4095 0.8 0.0 1 46 10.27 1.52 -10.32 0.000 18692 0.051 1.267 1790 2476 3058 3058 4095 0 0 0 0 0 0 25.98 24.74 26.05 10.35 49.21

54 -1.69 -487.5 1789 2477 3057 4095 -0.0 1.3 6 61 0.00 1.33 0.00 0.000 1030 0.000 0.033 1790 1962 3058 3058 4094 0 0 0 0 0 0 25.99 25.96 26.02 10.61 48.62

93 -1.69 -487.5 1790 1962 3059 4094 2.9 -10.5 12 99 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 1962 3058 3058 4094 0 0 0 0 0 0 26.26 26.28 26.28 10.60 48.18

131 -1.69 -487.5 1790 1962 3059 4094 8.8 -16.4 18 138 0.00 1.40 0.00 0.000 260 0.000 0.046 1790 2480 3059 3059 4094 0 0 0 0 0 0 26.30 25.99 26.32 10.61 48.70

170 -1.69 -487.5 1789 2480 3060 4094 15.3 -17.0 24 177 0.00 1.35 0.00 0.000 1030 0.000 0.025 1791 1941 3061 3061 4095 0 0 0 0 0 0 26.12 26.10 26.15 10.60 47.79

209 -1.69 -487.5 1790 1941 3061 4095 21.0 -13.9 30 215 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 1941 3061 3061 4095 0 0 0 0 0 0 26.36 26.38 26.38 10.59 47.59

247 -1.69 -487.5 1789 1941 3062 4095 26.3 -14.0 36 253 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 1941 3063 3063 4095 0 0 0 0 0 0 26.39 26.41 26.41 10.57 47.24

285 -1.69 -487.5 1790 1941 3063 4095 31.2 -12.5 42 291 0.00 0.00 0.00 0.000 6 0.000 0.000 1791 1941 3063 3063 4095 0 0 0 0 0 0 26.42 26.44 26.44 10.53 46.77

323 -1.69 -487.5 1790 1941 3064 4095 35.9 -12.0 48 329 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 1941 3064 3064 4094 0 0 0 0 0 0 26.45 26.46 26.46 10.51 45.94

361 -1.69 -487.5 1790 1941 3065 4094 40.6 -12.4 54 367 0.00 0.00 0.00 0.000 6 0.000 0.000 1791 1941 3065 3065 4094 0 0 0 0 0 0 26.47 26.48 26.48 10.48 45.51

399 -1.69 -487.5 1790 1941 3066 4094 45.2 -11.9 60 405 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 1941 3066 3066 4094 0 0 0 0 0 0 26.49 26.51 26.51 10.47 44.64

437 -1.69 -487.5 1790 1941 3066 4094 49.9 -12.2 66 443 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 1941 3067 3067 4094 0 0 0 0 0 0 26.51 26.53 26.53 10.46 44.56

475 -1.69 -487.5 1790 1941 3067 4094 54.6 -12.3 72 481 0.00 0.00 0.00 0.000 6 0.000 0.000 1791 1941 3068 3068 4094 0 0 0 0 0 0 26.53 26.55 26.54 10.44 43.77

513 -1.69 -487.5 1790 1941 3068 4094 59.5 -12.7 78 519 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 1941 3068 3068 4095 0 0 0 0 0 0 26.55 26.56 26.56 10.44 44.21

525 end dive: TARGET_DEPTH_EXCEEDED

state 525 begin apogee

532 -0.45 0.0 1790 2111 3069 4094 61.2 -13.4 80 568 4.18 0.00 27.98 1.291 10244 0.054 0.000 2186 2111 2483 2483 4095 0 0 0 0 0 0 26.27 25.40 24.41 10.43 43.06

569 end apogee: CONTROL_FINISHED_OK

state 569 begin climb

572 1.69 487.5 2186 2111 2484 4095 63.8 0.0 86 614 7.12 0.00 27.65 1.261 11270 0.034 0.000 2869 2111 1916 1916 4095 0 0 0 0 0 0 25.65 25.79 23.99 10.31 42.87

646 1.69 487.5 2868 2111 1915 4095 57.7 11.7 98 652 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2111 1915 1915 4094 0 0 0 0 0 0 25.62 25.63 25.63 10.18 42.55

684 1.69 487.5 2868 2111 1914 4094 53.0 12.0 104 690 0.00 1.45 0.00 0.000 516 0.000 0.047 2869 1572 1914 1914 4094 0 0 0 0 0 0 25.79 25.50 25.79 10.17 42.71

741 1.69 487.5 2868 1572 1913 4094 46.1 12.2 113 747 0.00 1.20 0.00 0.000 1030 0.000 0.025 2869 2067 1912 1912 4094 0 0 0 0 0 0 25.75 25.72 25.77 10.16 43.50

780 1.69 487.5 2868 2067 1911 4094 41.3 12.2 119 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2067 1911 1911 4094 0 0 0 0 0 0 26.03 26.05 26.04 10.16 43.46

818 1.69 487.5 2868 2066 1910 4094 36.5 12.5 125 824 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2067 1910 1910 4094 0 0 0 0 0 0 26.10 26.11 26.11 10.15 43.77

856 1.69 487.5 2868 2067 1909 4094 31.8 12.4 131 862 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2067 1909 1909 4094 0 0 0 0 0 0 26.15 26.17 26.16 10.15 44.72

894 1.69 487.5 2868 2066 1908 4094 26.9 12.5 137 899 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2067 1908 1908 4093 0 0 0 0 0 0 26.20 26.22 26.22 10.16 44.68

932 1.69 487.5 2869 2066 1907 4093 22.3 11.8 143 937 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2067 1907 1907 4094 0 0 0 0 0 0 26.25 26.26 26.26 10.18 45.62

970 1.69 487.5 2868 2066 1906 4094 18.0 11.3 149 975 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2067 1906 1906 4094 0 0 0 0 0 0 26.28 26.29 26.29 10.21 46.81

1007 1.69 487.5 2868 2066 1904 4094 13.9 10.5 155 1013 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2067 1905 1905 4094 0 0 0 0 0 0 26.32 26.33 26.33 10.22 48.81

1046 1.72 502.3 2868 2067 1904 4094 10.1 9.8 161 1053 0.00 0.00 2.20 0.097 8198 0.000 0.000 2869 2067 1896 1896 4094 0 0 0 0 0 0 26.35 25.94 25.27 10.24 49.60

1085 1.77 537.1 2868 2066 1895 4094 6.2 9.5 167 1092 0.10 0.00 3.55 0.345 10246 0.075 0.000 2887 2067 1856 1856 4094 0 0 0 0 0 0 26.17 25.96 25.32 10.25 50.55

1122 end climb: FINISH_DEPTH_REACHED

state 1122 begin subsurface finish

1130 0.15 101.4 2887 2067 1855 4094 1.9 10.8 173 1144 5.35 1.38 -4.05 0.000 20996 0.063 1.277 2396 1563 2373 2373 4094 0 0 0 0 0 0 26.09 24.89 26.17 10.26 51.06

1145 end subsurface finish: CONTROL_FINISHED_OK

state 1145 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	25	ALTIM_TOP_PING_RANGE	0
DIVE	811	HEADING	-1	C_ROLL_DIVE	1950	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2105	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	30	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	31	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	33	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	20	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	500	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	45	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	100817,103245,6100.9175,-17345.0566,8,0.9,21,7.1,0.2,185.4,9,4.8	TGT_NAME	W9N
_CALLS	4	TGT_LATLONG	6103.960,-17349.740
_XMS_NAKs	1	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.206406,0.336042
_SM_DEPTHo	0.81	KALMAN_X	77362.507812,-734.858765,-314.160217,-265264.781250,91.486694
_SM_ANGLEo	-42.7	KALMAN_Y	-27248.203125,3151.052734,1091.359863,218373.359375,-197.005737
GPS2	100817,105023,6100.8052,-17345.0664,9,0.9,40,7.1,0.4,206.7,9,4.7	MHEAD_RNG_PITCHd_Wd	321.3,7188,-10.6,-10.000,-14.23,7666
SPEED_LIMITS	0.100,0.386	D_GRID	60

FINISH1	1.9,1.024145,101	_10V_AH	10.39,25.442
FINISH2	0.4	FG_AHR_24Vo	0.000
IRIDIUM_FIX	6149.06,-17422.35,100817,104255	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.165529	MEM	329316
HUMID	51.29	DATA_FILE_SIZE	14336,175
INTERNAL_PRESSURE	10.2969	CAP_FILE_SIZE	44261,0
TCM_TEMP	7.20	CFSIZE	1024409600,979632128
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
_24V_AH	23.99,21.884	GPS	100817,105023,6100.805,-17345.066,9,0.9,40,7.1,0.4,206.7,9,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	97	79.42	SBE_CT	116	24	66.96
Roll_motor	10	1276	307.07	AA4831	0	0	0.00
VBD_pump_during_apogee	61	1290	1900.20	WL_blue_red_Chl	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	0	0	0.00
VBD_valve	0	0	0.00	SAT1001	0	0	0.00
Iridium_during_init	97	103	241.23	nil	0	0	0.00
Iridium_during_connect	76	160	294.86	nil	0	0	0.00
Iridium_during_xfer	487	223	2608.20	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	41	50	21.59
TT8	460	19	94.76
LPSleep	383	2	8.72
TT8_Active	179	19	36.90
TT8_Sampling	997	39	412.50
TT8_CF8	199	45	94.95
TT8_Kalman	33	81	28.43
Analog_circuits	388	12	48.38
GPS_charging	0	0	0.00
Compass	264	15	41.18
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
9	-1.69	-487.5	230	1941	1899	4092	0.0	0.0	0	18	7.05	0.00	0.00	0.000	2049	0.097	0.000	831	1942	1899	1899	4095	0	0	0	0	0	0	26.25	28.83	28.83	10.36	49.37
21	-1.69	-487.5	830	1941	1899	4095	0.8	0.0	1	46	10.27	1.52	-10.32	0.000	18692	0.051	1.267	1790	2476	3058	3058	4095	0	0	0	0	0	0	25.98	24.74	26.05	10.35	49.21
54	-1.69	-487.5	1789	2477	3057	4095	-0.0	1.3	6	61	0.00	1.33	0.00	0.000	1030	0.000	0.033	1790	1962	3058	3058	4094	0	0	0	0	0	0	25.99	25.96	26.02	10.61	48.62
93	-1.69	-487.5	1790	1962	3059	4094	2.9	-10.5	12	99	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	1962	3058	3058	4094	0	0	0	0	0	0	26.26	26.28	26.28	10.60	48.18
131	-1.69	-487.5	1790	1962	3059	4094	8.8	-16.4	18	138	0.00	1.40	0.00	0.000	260	0.000	0.046	1790	2480	3059	3059	4094	0	0	0	0	0	0	26.30	25.99	26.32	10.61	48.70
170	-1.69	-487.5	1789	2480	3060	4094	15.3	-17.0	24	177	0.00	1.35	0.00	0.000	1030	0.000	0.025	1791	1941	3061	3061	4095	0	0	0	0	0	0	26.12	26.10	26.15	10.60	47.79
209	-1.69	-487.5	1790	1941	3061	4095	21.0	-13.9	30	215	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	1941	3061	3061	4095	0	0	0	0	0	0	26.36	26.38	26.38	10.59	47.59
247	-1.69	-487.5	1789	1941	3062	4095	26.3	-14.0	36	253	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	1941	3063	3063	4095	0	0	0	0	0	0	26.39	26.41	26.41	10.57	47.24
285	-1.69	-487.5	1790	1941	3063	4095	31.2	-12.5	42	291	0.00	0.00	0.00	0.000	6	0.000	0.000	1791	1941	3063	3063	4095	0	0	0	0	0	0	26.42	26.44	26.44	10.53	46.77
323	-1.69	-487.5	1790	1941	3064	4095	35.9	-12.0	48	329	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	1941	3064	3064	4094	0	0	0	0	0	0	26.45	26.46	26.46	10.51	45.94
361	-1.69	-487.5	1790	1941	3065	4094	40.6	-12.4	54	367	0.00	0.00	0.00	0.000	6	0.000	0.000	1791	1941	3065	3065	4094	0	0	0	0	0	0	26.47	26.48	26.48	10.48	45.51
399	-1.69	-487.5	1790	1941	3066	4094	45.2	-11.9	60	405	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	1941	3066	3066	4094	0	0	0	0	0	0	26.49	26.51	26.51	10.47	44.64
437	-1.69	-487.5	1790	1941	3066	4094	49.9	-12.2	66	443	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	1941	3067	3067	4094	0	0	0	0	0	0	26.51	26.53	26.53	10.46	44.56
475	-1.69	-487.5	1790	1941	3067	4094	54.6	-12.3	72	481	0.00	0.00	0.00	0.000	6	0.000	0.000	1791	1941	3068	3068	4094	0	0	0	0	0	0	26.53	26.55	26.54	10.44	43.77
513	-1.69	-487.5	1790	1941	3068	4094	59.5	-12.7	78	519	0.00	0.00	0.00	0.000	6	0.000	0.000	1790	1941	3068	3068	4095	0	0	0	0	0	0	26.55	26.56	26.56	10.44	44.21
525	end dive: TARGET_DEPTH_EXCEEDED
state	525	begin apogee
532	-0.45	0.0	1790	2111	3069	4094	61.2	-13.4	80	568	4.18	0.00	27.98	1.291	10244	0.054	0.000	2186	2111	2483	2483	4095	0	0	0	0	0	0	26.27	25.40	24.41	10.43	43.06
569	end apogee: CONTROL_FINISHED_OK
state	569	begin climb
572	1.69	487.5	2186	2111	2484	4095	63.8	0.0	86	614	7.12	0.00	27.65	1.261	11270	0.034	0.000	2869	2111	1916	1916	4095	0	0	0	0	0	0	25.65	25.79	23.99	10.31	42.87
646	1.69	487.5	2868	2111	1915	4095	57.7	11.7	98	652	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2111	1915	1915	4094	0	0	0	0	0	0	25.62	25.63	25.63	10.18	42.55
684	1.69	487.5	2868	2111	1914	4094	53.0	12.0	104	690	0.00	1.45	0.00	0.000	516	0.000	0.047	2869	1572	1914	1914	4094	0	0	0	0	0	0	25.79	25.50	25.79	10.17	42.71
741	1.69	487.5	2868	1572	1913	4094	46.1	12.2	113	747	0.00	1.20	0.00	0.000	1030	0.000	0.025	2869	2067	1912	1912	4094	0	0	0	0	0	0	25.75	25.72	25.77	10.16	43.50
780	1.69	487.5	2868	2067	1911	4094	41.3	12.2	119	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2067	1911	1911	4094	0	0	0	0	0	0	26.03	26.05	26.04	10.16	43.46
818	1.69	487.5	2868	2066	1910	4094	36.5	12.5	125	824	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2067	1910	1910	4094	0	0	0	0	0	0	26.10	26.11	26.11	10.15	43.77
856	1.69	487.5	2868	2067	1909	4094	31.8	12.4	131	862	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2067	1909	1909	4094	0	0	0	0	0	0	26.15	26.17	26.16	10.15	44.72
894	1.69	487.5	2868	2066	1908	4094	26.9	12.5	137	899	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2067	1908	1908	4093	0	0	0	0	0	0	26.20	26.22	26.22	10.16	44.68
932	1.69	487.5	2869	2066	1907	4093	22.3	11.8	143	937	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2067	1907	1907	4094	0	0	0	0	0	0	26.25	26.26	26.26	10.18	45.62
970	1.69	487.5	2868	2066	1906	4094	18.0	11.3	149	975	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2067	1906	1906	4094	0	0	0	0	0	0	26.28	26.29	26.29	10.21	46.81
1007	1.69	487.5	2868	2066	1904	4094	13.9	10.5	155	1013	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2067	1905	1905	4094	0	0	0	0	0	0	26.32	26.33	26.33	10.22	48.81
1046	1.72	502.3	2868	2067	1904	4094	10.1	9.8	161	1053	0.00	0.00	2.20	0.097	8198	0.000	0.000	2869	2067	1896	1896	4094	0	0	0	0	0	0	26.35	25.94	25.27	10.24	49.60
1085	1.77	537.1	2868	2066	1895	4094	6.2	9.5	167	1092	0.10	0.00	3.55	0.345	10246	0.075	0.000	2887	2067	1856	1856	4094	0	0	0	0	0	0	26.17	25.96	25.32	10.25	50.55
1122	end climb: FINISH_DEPTH_REACHED
state	1122	begin subsurface finish
1130	0.15	101.4	2887	2067	1855	4094	1.9	10.8	173	1144	5.35	1.38	-4.05	0.000	20996	0.063	1.277	2396	1563	2373	2373	4094	0	0	0	0	0	0	26.09	24.89	26.17	10.26	51.06
1145	end subsurface finish: CONTROL_FINISHED_OK
state	1145	begin surface