Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 151 * 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 40 ALTIM_TOP_PING_RANGE 0

DIVE 151 HEADING -1 C_ROLL_DIVE 1900 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2020 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 20 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 26 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 2501 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 22 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 2360 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 450 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 30 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 30 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 22

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 2360 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_ROLL_CLIMB 2020 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_DIVE 1900 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2501 MASS 73198 ROLL_CNV 0.04555 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_DEG 40 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 450 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 20 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 26 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 151 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 290717,084124,5933.1626,-17053.2383,34,0.7,39,8.4,0.7,84.6,11,4.9 TGT_NAME W2N

_CALLS 1 TGT_LATLONG 5935.700,-17055.381

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.302088,0.188814

_SM_DEPTHo 0.84 KALMAN_X 20029.070312,-1111.309082,-286.754791,-44848.449219,214.214844

_SM_ANGLEo -41.6 KALMAN_Y 5119.135254,2004.962769,979.220886,24972.259766,165.670593

GPS2 290717,084733,5933.1875,-17053.1738,9,0.8,14,8.4,0.0,61.1,10,4.9 MHEAD_RNG_PITCHd_Wd 293.6,5093,-10.5,-9.091,-14.32,7214

SPEED_LIMITS 0.157,0.356 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.5,1.025600,0 _10V_AH 10.57,5.352

FINISH2 0.1 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5955.74,-17228.01,290717,072842 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.073402 MEM 329452

HUMID 50.90 DATA_FILE_SIZE 17769,229

INTERNAL_PRESSURE 10.2383 CAP_FILE_SIZE 48326,0

TCM_TEMP 3.50 CFSIZE 1024409600,1012056064

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

_24V_AH 24.03,3.795 GPS 290717,084733,5933.188,-17053.174,9,0.8,14,8.4,0.0,61.1,10,4.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 37 111 99.30 SBE_CT 0 0 0.00

Roll_motor 31 1309 983.49 AA4831 0 0 0.00

VBD_pump_during_apogee 72 1284 2230.77 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 58.16 nil 0 0 0.00

Iridium_during_connect 18 160 69.96 nil 0 0 0.00

Iridium_during_xfer 224 223 1203.66 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.07

TT8 511 19 106.99

LPSleep 404 2 9.36

TT8_Active 179 19 37.59

TT8_Sampling 625 39 263.00

TT8_CF8 88 45 43.07

TT8_Kalman 33 81 28.95

Analog_circuits 435 12 55.29

GPS_charging 0 0 0.00

Compass 340 15 54.02

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 6 begin dive

8 -1.61 -438.8 239 1893 1973 4092 0.0 0.0 0 17 7.30 0.00 0.00 0.000 2049 0.112 0.000 838 1890 1973 1973 4094 0 0 0 0 0 0 26.17 28.83 28.83 10.24 49.33

19 -1.61 -438.8 838 1890 1973 4094 0.9 0.0 1 47 11.02 2.47 -9.73 0.000 18948 0.062 1.310 1835 1031 3017 3017 4094 0 0 0 0 0 0 25.90 24.85 25.94 10.25 49.52

85 -1.61 -438.8 1835 1031 3017 4094 0.7 -2.6 12 91 0.00 2.17 0.00 0.000 1030 0.000 0.030 1835 1905 3017 3017 4095 0 0 0 0 0 0 25.94 25.88 25.95 10.48 49.44

122 -1.61 -438.8 1834 1905 3017 4095 5.1 -12.7 18 127 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3017 3017 4094 0 0 0 0 0 0 26.15 26.17 26.16 10.47 48.70

158 -1.61 -438.8 1835 1905 3019 4094 9.8 -13.1 24 163 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3018 3018 4095 0 0 0 0 0 0 26.19 26.20 26.20 10.48 48.38

194 -1.61 -438.8 1835 1905 3019 4095 14.9 -14.1 30 199 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1905 3019 3019 4095 0 0 0 0 0 0 26.22 26.23 26.23 10.48 48.14

230 -1.61 -438.8 1835 1907 3020 4095 19.2 -11.1 36 235 0.00 0.00 0.00 0.000 6 0.000 0.000 1836 1908 3020 3020 4095 0 0 0 0 0 0 26.26 26.27 26.27 10.46 48.42

266 -1.61 -438.8 1835 1908 3020 4095 21.9 -7.5 42 271 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1909 3020 3020 4095 0 0 0 0 0 0 26.28 26.30 26.29 10.42 47.63

303 -1.61 -438.8 1835 1909 3021 4095 25.0 -8.5 48 308 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1909 3021 3021 4094 0 0 0 0 0 0 26.31 26.32 26.32 10.40 47.59

339 -1.61 -438.8 1835 1909 3022 4094 28.3 -9.2 54 345 0.00 2.38 0.00 0.000 516 0.000 0.069 1835 1033 3022 3022 4094 0 0 0 0 0 0 26.34 25.99 26.34 10.39 46.85

401 -1.61 -438.8 1835 1032 3023 4094 34.1 -9.5 64 407 0.00 2.15 0.00 0.000 1030 0.000 0.029 1835 1916 3023 3023 4095 0 0 0 0 0 0 26.20 26.15 26.22 10.38 45.70

440 -1.61 -438.8 1835 1919 3023 4095 37.6 -8.9 70 445 0.00 0.00 0.00 0.000 6 0.000 0.000 1836 1920 3023 3023 4095 0 0 0 0 0 0 26.39 26.41 26.41 10.37 45.86

476 -1.61 -438.8 1835 1919 3024 4095 41.1 -9.3 76 481 0.00 0.00 0.00 0.000 6 0.000 0.000 1836 1920 3024 3024 4095 0 0 0 0 0 0 26.41 26.43 26.43 10.36 45.19

512 -1.61 -438.8 1835 1920 3025 4095 44.6 -10.0 82 518 0.00 2.40 0.00 0.000 516 0.000 0.070 1835 1032 3025 3025 4094 0 0 0 0 0 0 26.44 26.08 26.45 10.36 44.72

561 -1.61 -438.8 1835 1032 3025 4094 49.8 -10.8 90 567 0.00 2.10 0.00 0.000 1030 0.000 0.030 1836 1900 3026 3026 4094 0 0 0 0 0 0 26.28 26.23 26.29 10.36 44.84

598 -1.61 -438.8 1835 1903 3026 4094 53.2 -9.3 96 603 0.00 0.00 0.00 0.000 6 0.000 0.000 1835 1904 3026 3026 4095 0 0 0 0 0 0 26.47 26.48 26.48 10.35 44.64

634 -1.61 -438.8 1835 1904 3027 4095 56.9 -10.4 102 640 0.00 2.22 0.00 0.000 260 0.000 0.055 1835 2751 3027 3027 4094 0 0 0 0 0 0 26.48 26.17 26.50 10.35 44.44

669 end dive: TARGET_DEPTH_EXCEEDED

state 669 begin apogee

675 -0.45 0.0 1835 2004 3028 4095 60.5 -9.4 108 708 4.03 0.00 25.45 1.284 10244 0.059 0.000 2207 2004 2500 2500 4094 0 0 0 0 0 0 26.21 25.41 24.54 10.34 45.51

709 end apogee: CONTROL_FINISHED_OK

state 709 begin climb

711 1.61 438.8 2206 2003 2500 4094 62.7 0.0 114 749 7.00 0.00 25.23 1.271 11270 0.039 0.000 2861 2004 1988 1988 4095 0 0 0 0 0 0 25.61 25.77 24.03 10.23 45.43

780 1.61 438.8 2860 2004 1987 4095 59.4 9.4 126 786 0.00 2.33 0.00 0.000 516 0.000 0.067 2861 1158 1987 1987 4094 0 0 0 0 0 0 25.50 25.18 25.51 10.13 43.93

843 1.72 507.2 2861 1158 1986 4094 53.8 8.1 136 855 0.25 2.03 5.40 0.822 11270 0.045 0.028 2890 1978 1908 1908 4095 0 0 0 0 0 0 25.52 25.52 24.46 10.12 44.68

886 1.72 507.2 2889 1977 1907 4095 49.8 9.1 143 891 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 1977 1908 1908 4094 0 0 0 0 0 0 25.76 25.78 25.77 10.09 45.11

922 1.72 507.2 2889 1977 1907 4094 46.5 9.5 149 927 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 1978 1907 1907 4095 0 0 0 0 0 0 25.85 25.86 25.86 10.09 44.88

958 1.72 507.2 2889 1977 1907 4095 43.0 9.6 155 964 0.00 2.28 0.00 0.000 516 0.000 0.068 2890 1157 1906 1906 4094 0 0 0 0 0 0 25.92 25.59 25.94 10.08 44.92

1043 1.72 507.2 2889 1156 1904 4094 34.4 10.0 169 1049 0.00 2.00 0.00 0.000 1030 0.000 0.029 2890 1976 1905 1905 4094 0 0 0 0 0 0 25.88 25.82 25.90 10.09 45.66

1080 1.72 507.2 2889 1976 1903 4094 30.9 9.5 175 1086 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 1976 1903 1903 4094 0 0 0 0 0 0 26.10 26.12 26.11 10.08 45.74

1116 1.72 507.2 2889 1976 1902 4094 27.1 10.1 181 1123 0.00 2.42 0.00 0.000 260 0.000 0.060 2890 2874 1902 1902 4095 0 0 0 0 0 0 26.14 25.82 26.15 10.07 46.10

1177 1.72 507.2 2889 2874 1901 4095 20.8 10.3 191 1184 0.00 2.30 0.00 0.000 1030 0.000 0.032 2890 1977 1901 1901 4094 0 0 0 0 0 0 26.01 25.93 26.03 10.07 46.49

1215 1.73 519.0 2889 1977 1901 4094 17.4 8.9 197 1221 0.00 0.00 2.17 0.097 8710 0.000 0.000 2889 1977 1894 1894 4094 0 0 0 0 0 0 26.23 25.86 25.23 10.06 46.57

1252 1.85 600.3 2889 1976 1893 4094 14.4 7.9 203 1264 0.43 0.00 5.93 0.588 10246 0.043 0.000 2935 1976 1799 1799 4094 0 0 0 0 0 0 26.03 25.66 25.22 10.10 46.77

1295 1.92 645.8 2934 1976 1798 4094 10.7 8.4 210 1302 0.17 0.00 4.07 0.436 10246 0.058 0.000 2960 1976 1746 1746 4094 0 0 0 0 0 0 26.00 25.82 25.25 10.11 48.38

1333 1.99 688.7 2959 1975 1745 4094 7.5 8.5 216 1340 0.10 0.00 4.03 0.414 10246 0.075 0.000 2978 1976 1695 1695 4094 0 0 0 0 0 0 26.01 25.82 25.27 10.11 49.29

1371 1.99 688.7 2977 1976 1694 4094 4.1 9.1 222 1376 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 1976 1694 1694 4094 0 0 0 0 0 0 26.21 26.22 26.22 10.11 50.11

1393 end climb: FINISH_DEPTH_REACHED

state 1393 begin subsurface finish

1399 0.00 0.0 2977 2032 1693 4094 1.5 10.8 226 1416 6.70 0.00 -7.30 0.000 20998 0.063 0.000 2363 2037 2506 2506 4095 0 0 0 0 0 0 26.00 25.15 26.05 10.12 50.03

1417 end subsurface finish: CONTROL_FINISHED_OK

state 1417 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	40	ALTIM_TOP_PING_RANGE	0
DIVE	151	HEADING	-1	C_ROLL_DIVE	1900	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2020	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	20	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	26	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	2501	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	22	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	2360	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	450	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	30	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	290717,084124,5933.1626,-17053.2383,34,0.7,39,8.4,0.7,84.6,11,4.9	TGT_NAME	W2N
_CALLS	1	TGT_LATLONG	5935.700,-17055.381
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.302088,0.188814
_SM_DEPTHo	0.84	KALMAN_X	20029.070312,-1111.309082,-286.754791,-44848.449219,214.214844
_SM_ANGLEo	-41.6	KALMAN_Y	5119.135254,2004.962769,979.220886,24972.259766,165.670593
GPS2	290717,084733,5933.1875,-17053.1738,9,0.8,14,8.4,0.0,61.1,10,4.9	MHEAD_RNG_PITCHd_Wd	293.6,5093,-10.5,-9.091,-14.32,7214
SPEED_LIMITS	0.157,0.356	D_GRID	60

FINISH1	1.5,1.025600,0	_10V_AH	10.57,5.352
FINISH2	0.1	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5955.74,-17228.01,290717,072842	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.073402	MEM	329452
HUMID	50.90	DATA_FILE_SIZE	17769,229
INTERNAL_PRESSURE	10.2383	CAP_FILE_SIZE	48326,0
TCM_TEMP	3.50	CFSIZE	1024409600,1012056064
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
_24V_AH	24.03,3.795	GPS	290717,084733,5933.188,-17053.174,9,0.8,14,8.4,0.0,61.1,10,4.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	37	111	99.30	SBE_CT	0	0	0.00
Roll_motor	31	1309	983.49	AA4831	0	0	0.00
VBD_pump_during_apogee	72	1284	2230.77	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	58.16	nil	0	0	0.00
Iridium_during_connect	18	160	69.96	nil	0	0	0.00
Iridium_during_xfer	224	223	1203.66	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.07
TT8	511	19	106.99
LPSleep	404	2	9.36
TT8_Active	179	19	37.59
TT8_Sampling	625	39	263.00
TT8_CF8	88	45	43.07
TT8_Kalman	33	81	28.95
Analog_circuits	435	12	55.29
GPS_charging	0	0	0.00
Compass	340	15	54.02
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	6	begin dive
8	-1.61	-438.8	239	1893	1973	4092	0.0	0.0	0	17	7.30	0.00	0.00	0.000	2049	0.112	0.000	838	1890	1973	1973	4094	0	0	0	0	0	0	26.17	28.83	28.83	10.24	49.33
19	-1.61	-438.8	838	1890	1973	4094	0.9	0.0	1	47	11.02	2.47	-9.73	0.000	18948	0.062	1.310	1835	1031	3017	3017	4094	0	0	0	0	0	0	25.90	24.85	25.94	10.25	49.52
85	-1.61	-438.8	1835	1031	3017	4094	0.7	-2.6	12	91	0.00	2.17	0.00	0.000	1030	0.000	0.030	1835	1905	3017	3017	4095	0	0	0	0	0	0	25.94	25.88	25.95	10.48	49.44
122	-1.61	-438.8	1834	1905	3017	4095	5.1	-12.7	18	127	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3017	3017	4094	0	0	0	0	0	0	26.15	26.17	26.16	10.47	48.70
158	-1.61	-438.8	1835	1905	3019	4094	9.8	-13.1	24	163	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3018	3018	4095	0	0	0	0	0	0	26.19	26.20	26.20	10.48	48.38
194	-1.61	-438.8	1835	1905	3019	4095	14.9	-14.1	30	199	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1905	3019	3019	4095	0	0	0	0	0	0	26.22	26.23	26.23	10.48	48.14
230	-1.61	-438.8	1835	1907	3020	4095	19.2	-11.1	36	235	0.00	0.00	0.00	0.000	6	0.000	0.000	1836	1908	3020	3020	4095	0	0	0	0	0	0	26.26	26.27	26.27	10.46	48.42
266	-1.61	-438.8	1835	1908	3020	4095	21.9	-7.5	42	271	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1909	3020	3020	4095	0	0	0	0	0	0	26.28	26.30	26.29	10.42	47.63
303	-1.61	-438.8	1835	1909	3021	4095	25.0	-8.5	48	308	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1909	3021	3021	4094	0	0	0	0	0	0	26.31	26.32	26.32	10.40	47.59
339	-1.61	-438.8	1835	1909	3022	4094	28.3	-9.2	54	345	0.00	2.38	0.00	0.000	516	0.000	0.069	1835	1033	3022	3022	4094	0	0	0	0	0	0	26.34	25.99	26.34	10.39	46.85
401	-1.61	-438.8	1835	1032	3023	4094	34.1	-9.5	64	407	0.00	2.15	0.00	0.000	1030	0.000	0.029	1835	1916	3023	3023	4095	0	0	0	0	0	0	26.20	26.15	26.22	10.38	45.70
440	-1.61	-438.8	1835	1919	3023	4095	37.6	-8.9	70	445	0.00	0.00	0.00	0.000	6	0.000	0.000	1836	1920	3023	3023	4095	0	0	0	0	0	0	26.39	26.41	26.41	10.37	45.86
476	-1.61	-438.8	1835	1919	3024	4095	41.1	-9.3	76	481	0.00	0.00	0.00	0.000	6	0.000	0.000	1836	1920	3024	3024	4095	0	0	0	0	0	0	26.41	26.43	26.43	10.36	45.19
512	-1.61	-438.8	1835	1920	3025	4095	44.6	-10.0	82	518	0.00	2.40	0.00	0.000	516	0.000	0.070	1835	1032	3025	3025	4094	0	0	0	0	0	0	26.44	26.08	26.45	10.36	44.72
561	-1.61	-438.8	1835	1032	3025	4094	49.8	-10.8	90	567	0.00	2.10	0.00	0.000	1030	0.000	0.030	1836	1900	3026	3026	4094	0	0	0	0	0	0	26.28	26.23	26.29	10.36	44.84
598	-1.61	-438.8	1835	1903	3026	4094	53.2	-9.3	96	603	0.00	0.00	0.00	0.000	6	0.000	0.000	1835	1904	3026	3026	4095	0	0	0	0	0	0	26.47	26.48	26.48	10.35	44.64
634	-1.61	-438.8	1835	1904	3027	4095	56.9	-10.4	102	640	0.00	2.22	0.00	0.000	260	0.000	0.055	1835	2751	3027	3027	4094	0	0	0	0	0	0	26.48	26.17	26.50	10.35	44.44
669	end dive: TARGET_DEPTH_EXCEEDED
state	669	begin apogee
675	-0.45	0.0	1835	2004	3028	4095	60.5	-9.4	108	708	4.03	0.00	25.45	1.284	10244	0.059	0.000	2207	2004	2500	2500	4094	0	0	0	0	0	0	26.21	25.41	24.54	10.34	45.51
709	end apogee: CONTROL_FINISHED_OK
state	709	begin climb
711	1.61	438.8	2206	2003	2500	4094	62.7	0.0	114	749	7.00	0.00	25.23	1.271	11270	0.039	0.000	2861	2004	1988	1988	4095	0	0	0	0	0	0	25.61	25.77	24.03	10.23	45.43
780	1.61	438.8	2860	2004	1987	4095	59.4	9.4	126	786	0.00	2.33	0.00	0.000	516	0.000	0.067	2861	1158	1987	1987	4094	0	0	0	0	0	0	25.50	25.18	25.51	10.13	43.93
843	1.72	507.2	2861	1158	1986	4094	53.8	8.1	136	855	0.25	2.03	5.40	0.822	11270	0.045	0.028	2890	1978	1908	1908	4095	0	0	0	0	0	0	25.52	25.52	24.46	10.12	44.68
886	1.72	507.2	2889	1977	1907	4095	49.8	9.1	143	891	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	1977	1908	1908	4094	0	0	0	0	0	0	25.76	25.78	25.77	10.09	45.11
922	1.72	507.2	2889	1977	1907	4094	46.5	9.5	149	927	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	1978	1907	1907	4095	0	0	0	0	0	0	25.85	25.86	25.86	10.09	44.88
958	1.72	507.2	2889	1977	1907	4095	43.0	9.6	155	964	0.00	2.28	0.00	0.000	516	0.000	0.068	2890	1157	1906	1906	4094	0	0	0	0	0	0	25.92	25.59	25.94	10.08	44.92
1043	1.72	507.2	2889	1156	1904	4094	34.4	10.0	169	1049	0.00	2.00	0.00	0.000	1030	0.000	0.029	2890	1976	1905	1905	4094	0	0	0	0	0	0	25.88	25.82	25.90	10.09	45.66
1080	1.72	507.2	2889	1976	1903	4094	30.9	9.5	175	1086	0.00	0.00	0.00	0.000	6	0.000	0.000	2890	1976	1903	1903	4094	0	0	0	0	0	0	26.10	26.12	26.11	10.08	45.74
1116	1.72	507.2	2889	1976	1902	4094	27.1	10.1	181	1123	0.00	2.42	0.00	0.000	260	0.000	0.060	2890	2874	1902	1902	4095	0	0	0	0	0	0	26.14	25.82	26.15	10.07	46.10
1177	1.72	507.2	2889	2874	1901	4095	20.8	10.3	191	1184	0.00	2.30	0.00	0.000	1030	0.000	0.032	2890	1977	1901	1901	4094	0	0	0	0	0	0	26.01	25.93	26.03	10.07	46.49
1215	1.73	519.0	2889	1977	1901	4094	17.4	8.9	197	1221	0.00	0.00	2.17	0.097	8710	0.000	0.000	2889	1977	1894	1894	4094	0	0	0	0	0	0	26.23	25.86	25.23	10.06	46.57
1252	1.85	600.3	2889	1976	1893	4094	14.4	7.9	203	1264	0.43	0.00	5.93	0.588	10246	0.043	0.000	2935	1976	1799	1799	4094	0	0	0	0	0	0	26.03	25.66	25.22	10.10	46.77
1295	1.92	645.8	2934	1976	1798	4094	10.7	8.4	210	1302	0.17	0.00	4.07	0.436	10246	0.058	0.000	2960	1976	1746	1746	4094	0	0	0	0	0	0	26.00	25.82	25.25	10.11	48.38
1333	1.99	688.7	2959	1975	1745	4094	7.5	8.5	216	1340	0.10	0.00	4.03	0.414	10246	0.075	0.000	2978	1976	1695	1695	4094	0	0	0	0	0	0	26.01	25.82	25.27	10.11	49.29
1371	1.99	688.7	2977	1976	1694	4094	4.1	9.1	222	1376	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	1976	1694	1694	4094	0	0	0	0	0	0	26.21	26.22	26.22	10.11	50.11
1393	end climb: FINISH_DEPTH_REACHED
state	1393	begin subsurface finish
1399	0.00	0.0	2977	2032	1693	4094	1.5	10.8	226	1416	6.70	0.00	-7.30	0.000	20998	0.063	0.000	2363	2037	2506	2506	4095	0	0	0	0	0	0	26.00	25.15	26.05	10.12	50.03
1417	end subsurface finish: CONTROL_FINISHED_OK
state	1417	begin surface