Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 347 * 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 30 ALTIM_TOP_PING_RANGE 0

DIVE 347 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 22 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 31 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 400 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 30 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 400 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 22 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 31 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 347 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 010817,193103,5952.5903,-17148.0156,7,0.9,17,8.0,0.0,244.6,9,4.6 TGT_NAME W5N

_CALLS 1 TGT_LATLONG 5958.680,-17244.760

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.325089,0.098290

_SM_DEPTHo 0.22 KALMAN_X 43437.421875,-2052.544922,-751.216858,-118778.039062,-166.843811

_SM_ANGLEo -3.2 KALMAN_Y 20893.382812,1381.709229,199.333328,46562.566406,-4.635986

GPS2 010817,193103,5952.5903,-17148.0156,7,0.9,17,8.0,0.0,244.6,9,4.6 MHEAD_RNG_PITCHd_Wd 278.8,53776,-11.3,-9.091,-14.99,6428

SPEED_LIMITS 0.157,0.340 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.3,1.024078,106 _10V_AH 10.24,10.696

FINISH2 0.4 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5955.74,-17228.01,010817,180811 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215,0.223202 MEM 330924

HUMID 50.66 DATA_FILE_SIZE 17721,189

INTERNAL_PRESSURE 10.1797 CAP_FILE_SIZE 39459,0

TCM_TEMP 2.10 CFSIZE 1024409600,1002422272

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

_24V_AH 24.10,8.415 GPS 010817,193103,5952.590,-17148.016,7,0.9,17,8.0,0.0,244.6,9,4.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 76 41.76 SBE_CT 129 24 74.67

Roll_motor 32 1308 1037.83 AA4831 513 33 408.34

VBD_pump_during_apogee 62 1279 1916.60 WL_blue_red_Chl 0 0 0.00

VBD_pump_during_surface 0 0 0.00 SAT1000 602 17 258.46

VBD_valve 0 0 0.00 SAT1001 785 17 337.04

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 525 19 106.60

LPSleep 0 0 0.00

TT8_Active 148 19 30.15

TT8_Sampling 792 39 323.08

TT8_CF8 46 45 21.76

TT8_Kalman 33 81 28.00

Analog_circuits 452 12 55.64

GPS_charging 0 0 0.00

Compass 283 15 43.47

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 -1.61 -390.0 2413 1913 2385 4092 0.0 0.0 0 21 5.93 0.00 -4.72 0.000 20482 0.028 0.000 1847 1913 2898 2898 4095 0 0 0 0 0 0 26.02 28.83 26.04 10.29 50.59

23 -1.61 -390.0 1847 1913 2898 4095 0.1 0.0 1 33 0.00 1.88 -0.55 0.000 16900 0.000 1.291 1847 1252 2959 2959 4095 0 0 0 0 0 0 26.22 24.89 26.15 10.39 50.39

76 -1.61 -390.0 1847 1252 2960 4095 1.1 -3.6 8 84 0.00 1.60 0.00 0.000 1030 0.000 0.030 1847 1902 2959 2959 4095 0 0 0 0 0 0 25.93 25.89 25.94 10.41 50.90

121 -1.61 -390.0 1846 1902 2961 4095 6.1 -12.0 14 130 0.00 0.00 0.00 0.000 6 0.000 0.000 1847 1902 2961 2961 4095 0 0 0 0 0 0 26.17 26.18 26.18 10.42 50.74

166 -1.61 -390.0 1847 1902 2962 4095 12.3 -13.8 20 175 0.00 1.70 0.00 0.000 260 0.000 0.050 1847 2532 2962 2962 4095 0 0 0 0 0 0 26.22 25.90 26.22 10.41 50.23

236 -1.61 -390.0 1847 2531 2963 4095 20.6 -10.8 30 245 0.00 1.60 0.00 0.000 1030 0.000 0.031 1847 1908 2963 2963 4095 0 0 0 0 0 0 26.09 26.02 26.08 10.38 49.29

281 -1.61 -390.0 1847 1908 2964 4095 25.4 -11.1 36 290 0.00 0.00 0.00 0.000 6 0.000 0.000 1847 1908 2965 2965 4094 0 0 0 0 0 0 26.31 26.32 26.32 10.36 48.38

326 -1.61 -390.0 1847 1908 2965 4094 28.9 -7.5 42 335 0.00 1.73 0.00 0.000 516 0.000 0.064 1847 1264 2965 2965 4095 0 0 0 0 0 0 26.34 26.01 26.34 10.34 47.67

391 -1.61 -390.0 1847 1264 2966 4095 34.7 -9.1 51 400 0.00 1.58 0.00 0.000 1030 0.000 0.028 1847 1927 2966 2966 4095 0 0 0 0 0 0 26.18 26.15 26.20 10.33 47.00

436 -1.61 -390.0 1847 1926 2966 4095 38.8 -8.8 57 445 0.00 1.58 0.00 0.000 260 0.000 0.046 1847 2515 2966 2966 4095 0 0 0 0 0 0 26.40 26.10 26.41 10.32 46.85

487 -1.61 -390.0 1847 2515 2967 4095 43.4 -9.0 64 497 0.00 1.50 0.00 0.000 1030 0.000 0.030 1847 1927 2968 2968 4094 0 0 0 0 0 0 26.20 26.17 26.25 10.31 46.77

535 -1.61 -390.0 1847 1927 2969 4094 47.4 -8.5 70 544 0.00 1.80 0.00 0.000 516 0.000 0.064 1847 1253 2969 2969 4094 0 0 0 0 0 0 26.45 26.12 26.46 10.31 46.22

606 -1.61 -390.0 1847 1253 2970 4094 53.6 -8.1 80 616 0.00 1.55 0.00 0.000 1030 0.000 0.031 1847 1913 2969 2969 4094 0 0 0 0 0 0 26.30 26.28 26.30 10.30 46.02

653 -1.61 -390.0 1846 1913 2970 4094 57.6 -8.8 86 662 0.00 0.00 0.00 0.000 6 0.000 0.000 1847 1913 2971 2971 4095 0 0 0 0 0 0 26.50 26.51 26.51 10.30 46.18

676 end dive: TARGET_DEPTH_EXCEEDED

state 676 begin apogee

681 -0.45 0.0 1847 2021 2971 4094 60.1 -8.9 89 717 3.88 0.00 22.88 1.279 10244 0.054 0.000 2204 2021 2504 2504 4095 0 0 0 0 0 0 26.23 25.25 24.56 10.30 46.18

718 end apogee: CONTROL_FINISHED_OK

state 718 begin climb

720 1.61 390.0 2204 2021 2504 4095 62.6 0.0 93 757 6.97 1.65 22.92 1.270 10500 0.032 0.053 2861 2631 2045 2045 4094 0 0 0 0 0 0 25.65 25.60 24.10 10.20 45.94

818 1.61 390.0 2861 2631 2044 4094 56.7 9.2 106 828 0.00 1.60 0.00 0.000 1030 0.000 0.030 2861 2020 2044 2044 4094 0 0 0 0 0 0 25.50 25.46 25.53 10.10 45.23

864 1.65 415.7 2861 2020 2043 4094 52.7 8.7 112 873 0.00 1.73 3.22 0.508 8708 0.000 0.060 2861 1371 2014 2014 4094 0 0 0 0 0 0 25.83 25.19 24.53 10.09 45.07

935 1.65 415.7 2861 1371 2013 4094 46.1 9.4 122 945 0.00 1.52 0.00 0.000 1030 0.000 0.028 2861 1993 2013 2013 4094 0 0 0 0 0 0 25.75 25.71 25.77 10.08 46.37

980 1.65 415.7 2861 1993 2012 4094 41.9 9.3 128 989 0.00 0.00 0.00 0.000 6 0.000 0.000 2862 1993 2012 2012 4094 0 0 0 0 0 0 26.02 26.03 26.03 10.07 46.06

1025 1.65 415.7 2861 1992 2011 4094 37.8 9.3 134 1033 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1993 2011 2011 4094 0 0 0 0 0 0 26.08 26.09 26.09 10.07 46.18

1069 1.65 415.7 2861 1993 2010 4094 33.8 9.2 140 1078 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1993 2010 2010 4094 0 0 0 0 0 0 26.13 26.14 26.14 10.07 46.73

1114 1.65 415.7 2861 1993 2009 4094 29.7 9.2 146 1122 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1993 2010 2010 4094 0 0 0 0 0 0 26.17 26.19 26.19 10.07 46.33

1158 1.67 431.1 2861 1993 2008 4094 25.7 8.8 152 1168 0.10 0.00 2.40 0.191 10246 0.076 0.000 2878 1993 1997 1997 4095 0 0 0 0 0 0 26.01 25.63 25.09 10.07 46.29

1206 1.71 458.3 2878 1992 1997 4095 21.6 8.7 158 1215 0.00 0.00 3.05 0.351 8198 0.000 0.000 2878 1993 1970 1970 4094 0 0 0 0 0 0 26.25 25.65 25.15 10.07 46.92

1252 1.81 520.3 2878 1993 1969 4094 17.8 8.1 164 1264 0.38 1.70 5.18 0.576 10756 0.044 0.061 2920 1369 1892 1892 4095 0 0 0 0 0 0 26.03 25.86 25.16 10.07 46.77

1306 1.81 520.3 2920 1368 1892 4095 12.7 9.5 171 1316 0.00 1.60 0.00 0.000 1030 0.000 0.028 2921 2021 1892 1892 4094 0 0 0 0 0 0 26.02 26.01 26.08 10.07 47.83

1353 1.83 534.5 2920 2021 1891 4094 8.6 8.9 177 1362 0.00 1.67 2.53 0.191 8452 0.000 0.051 2921 2661 1877 1877 4095 0 0 0 0 0 0 26.27 25.74 25.29 10.09 48.07

1411 1.83 534.5 2920 2661 1876 4095 3.2 9.5 185 1420 0.00 1.60 0.00 0.000 1030 0.000 0.029 2921 2034 1875 1875 4095 0 0 0 0 0 0 26.09 26.04 26.11 10.12 49.44

1430 end climb: FINISH_DEPTH_REACHED

state 1430 begin subsurface finish

1435 0.16 106.1 2920 2034 1875 4095 1.3 9.9 187 1455 5.40 1.83 -4.45 0.000 20996 0.044 1.309 2413 1384 2382 2382 4094 0 0 0 0 0 0 26.10 24.94 26.14 10.12 49.96

1456 end subsurface finish: CONTROL_FINISHED_OK

state 1456 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	30	ALTIM_TOP_PING_RANGE	0
DIVE	347	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	22	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	31	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	400	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	010817,193103,5952.5903,-17148.0156,7,0.9,17,8.0,0.0,244.6,9,4.6	TGT_NAME	W5N
_CALLS	1	TGT_LATLONG	5958.680,-17244.760
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.325089,0.098290
_SM_DEPTHo	0.22	KALMAN_X	43437.421875,-2052.544922,-751.216858,-118778.039062,-166.843811
_SM_ANGLEo	-3.2	KALMAN_Y	20893.382812,1381.709229,199.333328,46562.566406,-4.635986
GPS2	010817,193103,5952.5903,-17148.0156,7,0.9,17,8.0,0.0,244.6,9,4.6	MHEAD_RNG_PITCHd_Wd	278.8,53776,-11.3,-9.091,-14.99,6428
SPEED_LIMITS	0.157,0.340	D_GRID	60

FINISH1	1.3,1.024078,106	_10V_AH	10.24,10.696
FINISH2	0.4	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5955.74,-17228.01,010817,180811	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215,0.223202	MEM	330924
HUMID	50.66	DATA_FILE_SIZE	17721,189
INTERNAL_PRESSURE	10.1797	CAP_FILE_SIZE	39459,0
TCM_TEMP	2.10	CFSIZE	1024409600,1002422272
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	24.10,8.415	GPS	010817,193103,5952.590,-17148.016,7,0.9,17,8.0,0.0,244.6,9,4.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	76	41.76	SBE_CT	129	24	74.67
Roll_motor	32	1308	1037.83	AA4831	513	33	408.34
VBD_pump_during_apogee	62	1279	1916.60	WL_blue_red_Chl	0	0	0.00
VBD_pump_during_surface	0	0	0.00	SAT1000	602	17	258.46
VBD_valve	0	0	0.00	SAT1001	785	17	337.04
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	525	19	106.60
LPSleep	0	0	0.00
TT8_Active	148	19	30.15
TT8_Sampling	792	39	323.08
TT8_CF8	46	45	21.76
TT8_Kalman	33	81	28.00
Analog_circuits	452	12	55.64
GPS_charging	0	0	0.00
Compass	283	15	43.47
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	-1.61	-390.0	2413	1913	2385	4092	0.0	0.0	0	21	5.93	0.00	-4.72	0.000	20482	0.028	0.000	1847	1913	2898	2898	4095	0	0	0	0	0	0	26.02	28.83	26.04	10.29	50.59
23	-1.61	-390.0	1847	1913	2898	4095	0.1	0.0	1	33	0.00	1.88	-0.55	0.000	16900	0.000	1.291	1847	1252	2959	2959	4095	0	0	0	0	0	0	26.22	24.89	26.15	10.39	50.39
76	-1.61	-390.0	1847	1252	2960	4095	1.1	-3.6	8	84	0.00	1.60	0.00	0.000	1030	0.000	0.030	1847	1902	2959	2959	4095	0	0	0	0	0	0	25.93	25.89	25.94	10.41	50.90
121	-1.61	-390.0	1846	1902	2961	4095	6.1	-12.0	14	130	0.00	0.00	0.00	0.000	6	0.000	0.000	1847	1902	2961	2961	4095	0	0	0	0	0	0	26.17	26.18	26.18	10.42	50.74
166	-1.61	-390.0	1847	1902	2962	4095	12.3	-13.8	20	175	0.00	1.70	0.00	0.000	260	0.000	0.050	1847	2532	2962	2962	4095	0	0	0	0	0	0	26.22	25.90	26.22	10.41	50.23
236	-1.61	-390.0	1847	2531	2963	4095	20.6	-10.8	30	245	0.00	1.60	0.00	0.000	1030	0.000	0.031	1847	1908	2963	2963	4095	0	0	0	0	0	0	26.09	26.02	26.08	10.38	49.29
281	-1.61	-390.0	1847	1908	2964	4095	25.4	-11.1	36	290	0.00	0.00	0.00	0.000	6	0.000	0.000	1847	1908	2965	2965	4094	0	0	0	0	0	0	26.31	26.32	26.32	10.36	48.38
326	-1.61	-390.0	1847	1908	2965	4094	28.9	-7.5	42	335	0.00	1.73	0.00	0.000	516	0.000	0.064	1847	1264	2965	2965	4095	0	0	0	0	0	0	26.34	26.01	26.34	10.34	47.67
391	-1.61	-390.0	1847	1264	2966	4095	34.7	-9.1	51	400	0.00	1.58	0.00	0.000	1030	0.000	0.028	1847	1927	2966	2966	4095	0	0	0	0	0	0	26.18	26.15	26.20	10.33	47.00
436	-1.61	-390.0	1847	1926	2966	4095	38.8	-8.8	57	445	0.00	1.58	0.00	0.000	260	0.000	0.046	1847	2515	2966	2966	4095	0	0	0	0	0	0	26.40	26.10	26.41	10.32	46.85
487	-1.61	-390.0	1847	2515	2967	4095	43.4	-9.0	64	497	0.00	1.50	0.00	0.000	1030	0.000	0.030	1847	1927	2968	2968	4094	0	0	0	0	0	0	26.20	26.17	26.25	10.31	46.77
535	-1.61	-390.0	1847	1927	2969	4094	47.4	-8.5	70	544	0.00	1.80	0.00	0.000	516	0.000	0.064	1847	1253	2969	2969	4094	0	0	0	0	0	0	26.45	26.12	26.46	10.31	46.22
606	-1.61	-390.0	1847	1253	2970	4094	53.6	-8.1	80	616	0.00	1.55	0.00	0.000	1030	0.000	0.031	1847	1913	2969	2969	4094	0	0	0	0	0	0	26.30	26.28	26.30	10.30	46.02
653	-1.61	-390.0	1846	1913	2970	4094	57.6	-8.8	86	662	0.00	0.00	0.00	0.000	6	0.000	0.000	1847	1913	2971	2971	4095	0	0	0	0	0	0	26.50	26.51	26.51	10.30	46.18
676	end dive: TARGET_DEPTH_EXCEEDED
state	676	begin apogee
681	-0.45	0.0	1847	2021	2971	4094	60.1	-8.9	89	717	3.88	0.00	22.88	1.279	10244	0.054	0.000	2204	2021	2504	2504	4095	0	0	0	0	0	0	26.23	25.25	24.56	10.30	46.18
718	end apogee: CONTROL_FINISHED_OK
state	718	begin climb
720	1.61	390.0	2204	2021	2504	4095	62.6	0.0	93	757	6.97	1.65	22.92	1.270	10500	0.032	0.053	2861	2631	2045	2045	4094	0	0	0	0	0	0	25.65	25.60	24.10	10.20	45.94
818	1.61	390.0	2861	2631	2044	4094	56.7	9.2	106	828	0.00	1.60	0.00	0.000	1030	0.000	0.030	2861	2020	2044	2044	4094	0	0	0	0	0	0	25.50	25.46	25.53	10.10	45.23
864	1.65	415.7	2861	2020	2043	4094	52.7	8.7	112	873	0.00	1.73	3.22	0.508	8708	0.000	0.060	2861	1371	2014	2014	4094	0	0	0	0	0	0	25.83	25.19	24.53	10.09	45.07
935	1.65	415.7	2861	1371	2013	4094	46.1	9.4	122	945	0.00	1.52	0.00	0.000	1030	0.000	0.028	2861	1993	2013	2013	4094	0	0	0	0	0	0	25.75	25.71	25.77	10.08	46.37
980	1.65	415.7	2861	1993	2012	4094	41.9	9.3	128	989	0.00	0.00	0.00	0.000	6	0.000	0.000	2862	1993	2012	2012	4094	0	0	0	0	0	0	26.02	26.03	26.03	10.07	46.06
1025	1.65	415.7	2861	1992	2011	4094	37.8	9.3	134	1033	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1993	2011	2011	4094	0	0	0	0	0	0	26.08	26.09	26.09	10.07	46.18
1069	1.65	415.7	2861	1993	2010	4094	33.8	9.2	140	1078	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1993	2010	2010	4094	0	0	0	0	0	0	26.13	26.14	26.14	10.07	46.73
1114	1.65	415.7	2861	1993	2009	4094	29.7	9.2	146	1122	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1993	2010	2010	4094	0	0	0	0	0	0	26.17	26.19	26.19	10.07	46.33
1158	1.67	431.1	2861	1993	2008	4094	25.7	8.8	152	1168	0.10	0.00	2.40	0.191	10246	0.076	0.000	2878	1993	1997	1997	4095	0	0	0	0	0	0	26.01	25.63	25.09	10.07	46.29
1206	1.71	458.3	2878	1992	1997	4095	21.6	8.7	158	1215	0.00	0.00	3.05	0.351	8198	0.000	0.000	2878	1993	1970	1970	4094	0	0	0	0	0	0	26.25	25.65	25.15	10.07	46.92
1252	1.81	520.3	2878	1993	1969	4094	17.8	8.1	164	1264	0.38	1.70	5.18	0.576	10756	0.044	0.061	2920	1369	1892	1892	4095	0	0	0	0	0	0	26.03	25.86	25.16	10.07	46.77
1306	1.81	520.3	2920	1368	1892	4095	12.7	9.5	171	1316	0.00	1.60	0.00	0.000	1030	0.000	0.028	2921	2021	1892	1892	4094	0	0	0	0	0	0	26.02	26.01	26.08	10.07	47.83
1353	1.83	534.5	2920	2021	1891	4094	8.6	8.9	177	1362	0.00	1.67	2.53	0.191	8452	0.000	0.051	2921	2661	1877	1877	4095	0	0	0	0	0	0	26.27	25.74	25.29	10.09	48.07
1411	1.83	534.5	2920	2661	1876	4095	3.2	9.5	185	1420	0.00	1.60	0.00	0.000	1030	0.000	0.029	2921	2034	1875	1875	4095	0	0	0	0	0	0	26.09	26.04	26.11	10.12	49.44
1430	end climb: FINISH_DEPTH_REACHED
state	1430	begin subsurface finish
1435	0.16	106.1	2920	2034	1875	4095	1.3	9.9	187	1455	5.40	1.83	-4.45	0.000	20996	0.044	1.309	2413	1384	2382	2382	4094	0	0	0	0	0	0	26.10	24.94	26.14	10.12	49.96
1456	end subsurface finish: CONTROL_FINISHED_OK
state	1456	begin surface