Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 817 * 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 817 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 38 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 29 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 38 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 29 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 817 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 100817,130704,6101.0186,-17346.5898,5,0.9,13,7.0,0.0,244.4,9,4.7 TGT_NAME W9N

_CALLS 1 TGT_LATLONG 6103.960,-17349.740

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.038789,0.376406

_SM_DEPTHo 0.84 KALMAN_X 77216.421875,-815.498901,-370.322571,-266527.718750,-69.390076

_SM_ANGLEo -43.3 KALMAN_Y -28661.505859,2887.421631,772.202148,220655.562500,-227.966003

GPS2 100817,131444,6100.9580,-17346.7109,11,0.8,16,7.0,0.0,240.8,11,4.5 MHEAD_RNG_PITCHd_Wd 347.1,6187,-11.3,-10.000,-14.80,6938

SPEED_LIMITS 0.100,0.386 D_GRID 60

Post-dive calculations and measurements:

FINISH1 2.0,1.024085,106 _10V_AH 10.36,25.587

FINISH2 0.6 FG_AHR_24Vo 0.000

IRIDIUM_FIX 6149.06,-17422.35,100817,115639 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.161035 MEM 329396

HUMID 51.69 DATA_FILE_SIZE 14252,176

INTERNAL_PRESSURE 10.2872 CAP_FILE_SIZE 38951,0

TCM_TEMP 5.60 CFSIZE 1024409600,979337216

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

_24V_AH 23.96,22.039 GPS 100817,131444,6100.958,-17346.711,11,0.8,16,7.0,0.0,240.8,11,4.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 100 83.96 SBE_CT 117 24 67.37

Roll_motor 14 1278 454.83 AA4831 0 0 0.00

VBD_pump_during_apogee 61 1295 1904.14 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 23 103 58.82 nil 0 0 0.00

Iridium_during_connect 26 160 100.43 nil 0 0 0.00

Iridium_during_xfer 248 223 1329.64 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.11

TT8 464 19 95.28

LPSleep 254 2 5.78

TT8_Active 176 19 36.16

TT8_Sampling 564 39 232.64

TT8_CF8 172 45 81.63

TT8_Kalman 33 81 28.35

Analog_circuits 383 12 47.69

GPS_charging 0 0 0.00

Compass 265 15 41.30

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 -1.72 -462.9 237 1936 1931 4092 0.0 0.0 0 18 7.18 0.00 0.00 0.000 2049 0.101 0.000 845 1935 1931 1931 4094 0 0 0 0 0 0 26.28 28.83 28.83 10.33 50.35

21 -1.72 -462.9 843 1934 1931 4094 0.8 0.0 1 45 9.95 0.00 -9.90 0.000 18950 0.046 0.000 1782 1935 3028 3028 4095 0 0 0 0 0 0 25.99 25.01 26.06 10.33 50.39

77 -1.72 -462.9 1781 1934 3029 4095 2.9 -10.9 10 83 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1934 3030 3030 4095 0 0 0 0 0 0 26.26 26.27 26.27 10.57 50.19

115 -1.72 -462.9 1782 1934 3030 4095 8.4 -15.1 16 121 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1934 3030 3030 4095 0 0 0 0 0 0 26.30 26.32 26.32 10.57 50.43

153 -1.72 -462.9 1781 1934 3031 4095 14.2 -14.6 22 159 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1935 3031 3031 4095 0 0 0 0 0 0 26.34 26.35 26.35 10.56 49.44

191 -1.72 -462.9 1781 1934 3032 4095 19.7 -15.0 28 197 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1934 3033 3033 4095 0 0 0 0 0 0 26.37 26.39 26.39 10.56 49.09

229 -1.72 -462.9 1781 1934 3033 4095 24.7 -13.2 34 235 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1935 3034 3034 4095 0 0 0 0 0 0 26.40 26.41 26.41 10.53 48.66

268 -1.76 -487.5 1782 1934 3034 4095 28.3 -8.1 40 274 0.00 0.00 -0.08 0.000 16390 0.000 0.000 1782 1934 3079 3079 4095 0 0 0 0 0 0 26.43 25.50 25.96 10.51 48.14

307 -1.76 -487.5 1782 1934 3080 4095 31.8 -9.6 46 312 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1935 3080 3080 4095 0 0 0 0 0 0 26.33 26.34 26.34 10.50 48.26

344 -1.76 -487.5 1781 1934 3081 4095 36.1 -11.3 52 350 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1934 3081 3081 4095 0 0 0 0 0 0 26.36 26.37 26.38 10.48 47.12

383 -1.76 -487.5 1781 1934 3081 4095 40.6 -11.7 58 388 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1935 3082 3082 4094 0 0 0 0 0 0 26.39 26.41 26.41 10.46 46.06

420 -1.76 -487.5 1782 1934 3082 4094 45.3 -12.1 64 426 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1934 3082 3082 4094 0 0 0 0 0 0 26.43 26.44 26.44 10.45 45.86

458 -1.76 -487.5 1781 1934 3083 4094 50.0 -12.3 70 464 0.00 0.00 0.00 0.000 6 0.000 0.000 1783 1935 3083 3083 4095 0 0 0 0 0 0 26.45 26.46 26.46 10.44 45.19

496 -1.76 -487.5 1781 1934 3083 4095 54.8 -12.4 76 502 0.00 0.00 0.00 0.000 6 0.000 0.000 1782 1934 3084 3084 4094 0 0 0 0 0 0 26.47 26.49 26.48 10.43 45.27

534 -1.76 -487.5 1781 1934 3085 4094 59.7 -12.9 82 541 0.00 1.48 0.00 0.000 260 0.000 0.047 1782 2484 3085 3085 4095 0 0 0 0 0 0 26.49 26.19 26.51 10.42 44.92

546 end dive: TARGET_DEPTH_EXCEEDED

state 546 begin apogee

554 -0.45 0.0 1782 2092 3086 4095 61.6 -13.6 84 590 4.28 0.00 28.70 1.296 10246 0.054 0.000 2186 2092 2484 2484 4095 0 0 0 0 0 0 26.20 25.34 24.34 10.42 44.56

591 end apogee: CONTROL_FINISHED_OK

state 591 begin climb

594 1.76 487.5 2186 2091 2483 4095 64.2 0.0 90 635 7.30 0.00 27.88 1.263 10502 0.032 0.000 2886 2092 1915 1915 4094 0 0 0 0 0 0 25.60 24.63 23.96 10.30 44.29

668 1.76 487.5 2886 2091 1914 4094 57.7 12.2 102 674 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2092 1914 1914 4094 0 0 0 0 0 0 25.59 25.60 25.60 10.16 43.62

706 1.76 487.5 2885 2091 1913 4094 52.8 12.8 108 712 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2092 1913 1913 4094 0 0 0 0 0 0 25.76 25.77 25.77 10.15 43.73

744 1.76 487.5 2885 2091 1911 4094 47.8 13.1 114 750 0.00 1.33 0.00 0.000 516 0.000 0.047 2886 1589 1912 1912 4094 0 0 0 0 0 0 25.88 25.60 25.89 10.15 43.89

794 1.76 487.5 2886 1589 1910 4094 41.1 13.1 122 801 0.00 1.25 0.00 0.000 1030 0.000 0.027 2886 2096 1910 1910 4094 0 0 0 0 0 0 25.79 25.76 25.80 10.14 44.76

835 1.76 487.5 2886 2095 1909 4094 36.0 13.5 128 842 0.00 1.48 0.00 0.000 260 0.000 0.054 2886 2640 1908 1908 4095 0 0 0 0 0 0 26.07 25.77 26.08 10.13 44.92

880 1.76 487.5 2886 2639 1908 4095 30.0 12.9 135 886 0.00 1.30 0.00 0.000 1030 0.000 0.025 2886 2116 1907 1907 4094 0 0 0 0 0 0 25.94 25.91 25.95 10.13 45.39

919 1.76 487.5 2886 2115 1907 4094 25.2 12.1 141 925 0.00 1.40 0.00 0.000 516 0.000 0.048 2886 1579 1906 1906 4095 0 0 0 0 0 0 26.19 25.89 26.20 10.15 46.22

988 1.76 487.5 2886 1578 1904 4095 16.9 11.4 152 994 0.00 1.23 0.00 0.000 1030 0.000 0.027 2886 2083 1905 1905 4095 0 0 0 0 0 0 26.06 26.02 26.08 10.19 47.83

1026 1.76 487.5 2886 2082 1903 4095 12.5 11.3 158 1033 0.00 1.48 0.00 0.000 260 0.000 0.054 2887 2631 1904 1904 4094 0 0 0 0 0 0 26.30 25.98 26.31 10.21 49.37

1071 1.76 487.5 2886 2631 1902 4094 7.4 11.4 165 1078 0.00 1.38 0.00 0.000 1030 0.000 0.026 2886 2082 1902 1902 4094 0 0 0 0 0 0 26.12 26.10 26.15 10.23 50.19

1110 1.86 557.1 2885 2081 1901 4094 4.0 9.0 171 1118 0.25 0.00 4.75 0.439 10246 0.053 0.000 2918 2080 1833 1833 4094 0 0 0 0 0 0 26.13 25.94 25.30 10.24 50.90

1130 end climb: FINISH_DEPTH_REACHED

state 1130 begin subsurface finish

1137 0.16 105.6 2919 2080 1833 4094 2.0 8.9 174 1152 5.75 1.60 -4.03 0.000 20740 0.068 1.278 2397 2641 2367 2367 4095 0 0 0 0 0 0 26.04 24.84 26.13 10.23 50.86

1153 end subsurface finish: CONTROL_FINISHED_OK

state 1153 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	817	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	38	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	29	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	100817,130704,6101.0186,-17346.5898,5,0.9,13,7.0,0.0,244.4,9,4.7	TGT_NAME	W9N
_CALLS	1	TGT_LATLONG	6103.960,-17349.740
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.038789,0.376406
_SM_DEPTHo	0.84	KALMAN_X	77216.421875,-815.498901,-370.322571,-266527.718750,-69.390076
_SM_ANGLEo	-43.3	KALMAN_Y	-28661.505859,2887.421631,772.202148,220655.562500,-227.966003
GPS2	100817,131444,6100.9580,-17346.7109,11,0.8,16,7.0,0.0,240.8,11,4.5	MHEAD_RNG_PITCHd_Wd	347.1,6187,-11.3,-10.000,-14.80,6938
SPEED_LIMITS	0.100,0.386	D_GRID	60

FINISH1	2.0,1.024085,106	_10V_AH	10.36,25.587
FINISH2	0.6	FG_AHR_24Vo	0.000
IRIDIUM_FIX	6149.06,-17422.35,100817,115639	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.161035	MEM	329396
HUMID	51.69	DATA_FILE_SIZE	14252,176
INTERNAL_PRESSURE	10.2872	CAP_FILE_SIZE	38951,0
TCM_TEMP	5.60	CFSIZE	1024409600,979337216
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
_24V_AH	23.96,22.039	GPS	100817,131444,6100.958,-17346.711,11,0.8,16,7.0,0.0,240.8,11,4.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	100	83.96	SBE_CT	117	24	67.37
Roll_motor	14	1278	454.83	AA4831	0	0	0.00
VBD_pump_during_apogee	61	1295	1904.14	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	23	103	58.82	nil	0	0	0.00
Iridium_during_connect	26	160	100.43	nil	0	0	0.00
Iridium_during_xfer	248	223	1329.64	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.11
TT8	464	19	95.28
LPSleep	254	2	5.78
TT8_Active	176	19	36.16
TT8_Sampling	564	39	232.64
TT8_CF8	172	45	81.63
TT8_Kalman	33	81	28.35
Analog_circuits	383	12	47.69
GPS_charging	0	0	0.00
Compass	265	15	41.30
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	-1.72	-462.9	237	1936	1931	4092	0.0	0.0	0	18	7.18	0.00	0.00	0.000	2049	0.101	0.000	845	1935	1931	1931	4094	0	0	0	0	0	0	26.28	28.83	28.83	10.33	50.35
21	-1.72	-462.9	843	1934	1931	4094	0.8	0.0	1	45	9.95	0.00	-9.90	0.000	18950	0.046	0.000	1782	1935	3028	3028	4095	0	0	0	0	0	0	25.99	25.01	26.06	10.33	50.39
77	-1.72	-462.9	1781	1934	3029	4095	2.9	-10.9	10	83	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1934	3030	3030	4095	0	0	0	0	0	0	26.26	26.27	26.27	10.57	50.19
115	-1.72	-462.9	1782	1934	3030	4095	8.4	-15.1	16	121	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1934	3030	3030	4095	0	0	0	0	0	0	26.30	26.32	26.32	10.57	50.43
153	-1.72	-462.9	1781	1934	3031	4095	14.2	-14.6	22	159	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1935	3031	3031	4095	0	0	0	0	0	0	26.34	26.35	26.35	10.56	49.44
191	-1.72	-462.9	1781	1934	3032	4095	19.7	-15.0	28	197	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1934	3033	3033	4095	0	0	0	0	0	0	26.37	26.39	26.39	10.56	49.09
229	-1.72	-462.9	1781	1934	3033	4095	24.7	-13.2	34	235	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1935	3034	3034	4095	0	0	0	0	0	0	26.40	26.41	26.41	10.53	48.66
268	-1.76	-487.5	1782	1934	3034	4095	28.3	-8.1	40	274	0.00	0.00	-0.08	0.000	16390	0.000	0.000	1782	1934	3079	3079	4095	0	0	0	0	0	0	26.43	25.50	25.96	10.51	48.14
307	-1.76	-487.5	1782	1934	3080	4095	31.8	-9.6	46	312	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1935	3080	3080	4095	0	0	0	0	0	0	26.33	26.34	26.34	10.50	48.26
344	-1.76	-487.5	1781	1934	3081	4095	36.1	-11.3	52	350	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1934	3081	3081	4095	0	0	0	0	0	0	26.36	26.37	26.38	10.48	47.12
383	-1.76	-487.5	1781	1934	3081	4095	40.6	-11.7	58	388	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1935	3082	3082	4094	0	0	0	0	0	0	26.39	26.41	26.41	10.46	46.06
420	-1.76	-487.5	1782	1934	3082	4094	45.3	-12.1	64	426	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1934	3082	3082	4094	0	0	0	0	0	0	26.43	26.44	26.44	10.45	45.86
458	-1.76	-487.5	1781	1934	3083	4094	50.0	-12.3	70	464	0.00	0.00	0.00	0.000	6	0.000	0.000	1783	1935	3083	3083	4095	0	0	0	0	0	0	26.45	26.46	26.46	10.44	45.19
496	-1.76	-487.5	1781	1934	3083	4095	54.8	-12.4	76	502	0.00	0.00	0.00	0.000	6	0.000	0.000	1782	1934	3084	3084	4094	0	0	0	0	0	0	26.47	26.49	26.48	10.43	45.27
534	-1.76	-487.5	1781	1934	3085	4094	59.7	-12.9	82	541	0.00	1.48	0.00	0.000	260	0.000	0.047	1782	2484	3085	3085	4095	0	0	0	0	0	0	26.49	26.19	26.51	10.42	44.92
546	end dive: TARGET_DEPTH_EXCEEDED
state	546	begin apogee
554	-0.45	0.0	1782	2092	3086	4095	61.6	-13.6	84	590	4.28	0.00	28.70	1.296	10246	0.054	0.000	2186	2092	2484	2484	4095	0	0	0	0	0	0	26.20	25.34	24.34	10.42	44.56
591	end apogee: CONTROL_FINISHED_OK
state	591	begin climb
594	1.76	487.5	2186	2091	2483	4095	64.2	0.0	90	635	7.30	0.00	27.88	1.263	10502	0.032	0.000	2886	2092	1915	1915	4094	0	0	0	0	0	0	25.60	24.63	23.96	10.30	44.29
668	1.76	487.5	2886	2091	1914	4094	57.7	12.2	102	674	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	2092	1914	1914	4094	0	0	0	0	0	0	25.59	25.60	25.60	10.16	43.62
706	1.76	487.5	2885	2091	1913	4094	52.8	12.8	108	712	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	2092	1913	1913	4094	0	0	0	0	0	0	25.76	25.77	25.77	10.15	43.73
744	1.76	487.5	2885	2091	1911	4094	47.8	13.1	114	750	0.00	1.33	0.00	0.000	516	0.000	0.047	2886	1589	1912	1912	4094	0	0	0	0	0	0	25.88	25.60	25.89	10.15	43.89
794	1.76	487.5	2886	1589	1910	4094	41.1	13.1	122	801	0.00	1.25	0.00	0.000	1030	0.000	0.027	2886	2096	1910	1910	4094	0	0	0	0	0	0	25.79	25.76	25.80	10.14	44.76
835	1.76	487.5	2886	2095	1909	4094	36.0	13.5	128	842	0.00	1.48	0.00	0.000	260	0.000	0.054	2886	2640	1908	1908	4095	0	0	0	0	0	0	26.07	25.77	26.08	10.13	44.92
880	1.76	487.5	2886	2639	1908	4095	30.0	12.9	135	886	0.00	1.30	0.00	0.000	1030	0.000	0.025	2886	2116	1907	1907	4094	0	0	0	0	0	0	25.94	25.91	25.95	10.13	45.39
919	1.76	487.5	2886	2115	1907	4094	25.2	12.1	141	925	0.00	1.40	0.00	0.000	516	0.000	0.048	2886	1579	1906	1906	4095	0	0	0	0	0	0	26.19	25.89	26.20	10.15	46.22
988	1.76	487.5	2886	1578	1904	4095	16.9	11.4	152	994	0.00	1.23	0.00	0.000	1030	0.000	0.027	2886	2083	1905	1905	4095	0	0	0	0	0	0	26.06	26.02	26.08	10.19	47.83
1026	1.76	487.5	2886	2082	1903	4095	12.5	11.3	158	1033	0.00	1.48	0.00	0.000	260	0.000	0.054	2887	2631	1904	1904	4094	0	0	0	0	0	0	26.30	25.98	26.31	10.21	49.37
1071	1.76	487.5	2886	2631	1902	4094	7.4	11.4	165	1078	0.00	1.38	0.00	0.000	1030	0.000	0.026	2886	2082	1902	1902	4094	0	0	0	0	0	0	26.12	26.10	26.15	10.23	50.19
1110	1.86	557.1	2885	2081	1901	4094	4.0	9.0	171	1118	0.25	0.00	4.75	0.439	10246	0.053	0.000	2918	2080	1833	1833	4094	0	0	0	0	0	0	26.13	25.94	25.30	10.24	50.90
1130	end climb: FINISH_DEPTH_REACHED
state	1130	begin subsurface finish
1137	0.16	105.6	2919	2080	1833	4094	2.0	8.9	174	1152	5.75	1.60	-4.03	0.000	20740	0.068	1.278	2397	2641	2367	2367	4095	0	0	0	0	0	0	26.04	24.84	26.13	10.23	50.86
1153	end subsurface finish: CONTROL_FINISHED_OK
state	1153	begin surface