Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 604 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 401 HD_B 0.013 ROLL_MAX 3888 ALTIM_BOTTOM_PING_RANGE 0

MISSION 22 HD_C 2.4999999e-05 ROLL_DEG 20 ALTIM_TOP_PING_RANGE 0

DIVE 604 HEADING -1 C_ROLL_DIVE 1950 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 1950 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 25 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.04555 ALTIM_PING_DEPTH 0

D_FLARE 0 TGT_DEFAULT_LAT 5650 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 60 TGT_DEFAULT_LON -16401 R_PORT_OVSHOOT 23 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 39 ALTIM_PULSE 2

D_NO_BLEED 200 SM_CC 300 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 4

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 1 XPDR_INHIBIT 90

D_FINISH 2 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 53 INT_PRESSURE_YINT -1.1

D_SAFE 0 PROTOCOL 9 VBD_MAX 4044 DEEPGLIDER 2

D_CALL 0 N_NOCOMM 1 C_VBD 2485 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE -3 VBD_CNV -0.85860002 DEVICE2 165

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 2 DEVICE3 115

T_DIVE 24 CALL_TRIES 10 VBD_TIMEOUT 180 DEVICE4 134

T_MISSION 32 CALL_WAIT 45 PITCH_VBD_SHIFT 0.0015 DEVICE5 151

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 6 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50945 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2340 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 600 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044153114

COURSE_BIAS 0 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00064861565

GLIDE_SLOPE 20 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.6621732e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.3947326e-06

RHO 1.0256 PITCH_GAIN 11 PHONE_SUPPLY 2 SEABIRD_C_G -10.162049

MASS 73198 PITCH_TIMEOUT 50 PRESSURE_YINT -50.9827 SEABIRD_C_H 1.142972

MASS_COMP 0 PITCH_AD_RATE 70 PRESSURE_SLOPE 3.2755801e-05 SEABIRD_C_I -0.0032838252

NAV_MODE 1 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00030784801

FERRY_MAX 45 PITCH_ADJ_GAIN 0 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 0

KALMAN_USE 1 PITCH_ADJ_DBAND 0 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 200 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_10V 100 D_SURF 2 PITCH_ADJ_GAIN 0 SM_CC 300

AH0_24V 150 D_TGT 60 PITCH_AD_RATE 70 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.00312576 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 11 FERRY_MAX 45 PITCH_GAIN 11 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3693 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_MIN 220 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 50 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 20 PITCH_VBD_SHIFT 0.0015 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 5650

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -16401

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 3.2755801e-05 T_ABORT 1440

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -50.9827 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 24

CALL_WAIT 45 HEAD_ERRBAND 25 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 401 RAFOS_DEVICE -1 T_MISSION 32

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.1 RAFOS_MMODEM 0 T_RSLEEP 3

COMPASS_DEVICE 33 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.0256 T_TURN_SAMPINT 6

C_PITCH 2340 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0.029999999 T_WATCHDOG 10

C_ROLL_CLIMB 1950 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 1 UNCOM_BLEED 60

C_ROLL_DIVE 1950 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2485 MASS 73198 ROLL_CNV 0.04555 USE_BATHY 0

DBDW 0 MASS_COMP 0 ROLL_DEG 20 USE_ICE 0

DEEPGLIDER 2 MAXI_10V 0.80000001 ROLL_MAX 3888 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.60000002 ROLL_MAXERRORS 2 VBD_CNV -0.85860002

DEVICE2 165 MAX_BUOY 600 ROLL_MIN 200 VBD_DBAND 2

DEVICE3 115 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE4 134 MINV_24V 19 R_PORT_OVSHOOT 23 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 604 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 060817,180212,6017.9019,-17325.6426,6,0.7,20,7.2,0.0,309.0,11,4.8 TGT_NAME W7N

_CALLS 1 TGT_LATLONG 6025.500,-17335.520

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.249143,0.307275

_SM_DEPTHo 0.72 KALMAN_X 63829.140625,-1971.958496,-495.395416,-231976.843750,36.176880

_SM_ANGLEo -34.3 KALMAN_Y 43577.957031,2236.288574,900.651611,69272.117188,43.102417

GPS2 060817,181001,6017.9531,-17325.7090,6,0.7,49,7.2,0.5,322.7,11,5.0 MHEAD_RNG_PITCHd_Wd 313.8,16606,-7.3,-8.333,-11.90,11100

SPEED_LIMITS 0.229,0.384 D_GRID 60

Post-dive calculations and measurements:

FINISH1 0.9,1.024178,99 _10V_AH 10.18,19.702

FINISH2 0.2 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5952.82,-17420.78,060817,164308 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.249417 MEM 329356

HUMID 50.27 DATA_FILE_SIZE 17798,178

INTERNAL_PRESSURE 10.2579 CAP_FILE_SIZE 40570,0

TCM_TEMP 4.80 CFSIZE 1024409600,989790208

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

_24V_AH 23.84,16.080 GPS 060817,181001,6017.953,-17325.709,6,0.7,49,7.2,0.5,322.7,11,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 78 65.42 SBE_CT 120 24 68.93

Roll_motor 8 1275 260.70 AA4831 483 33 380.36

VBD_pump_during_apogee 83 1290 2560.57 WL_blue_red_Chl 382 105 958.28

VBD_pump_during_surface 0 0 0.00 SAT1000 566 17 240.56

VBD_valve 0 0 0.00 SAT1001 739 17 313.88

Iridium_during_init 24 103 61.15 nil 0 0 0.00

Iridium_during_connect 18 160 71.07 nil 0 0 0.00

Iridium_during_xfer 255 223 1356.92 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 50 50 25.73

TT8 490 19 98.82

LPSleep 0 0 0.00

TT8_Active 165 19 33.40

TT8_Sampling 1081 39 438.13

TT8_CF8 146 45 68.49

TT8_Kalman 33 81 27.86

Analog_circuits 481 12 58.78

GPS_charging 0 0 0.00

Compass 431 15 65.85

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 -1.54 -585.0 230 1954 1626 4092 0.0 0.0 0 20 9.95 0.00 0.00 0.000 2049 0.079 0.000 1099 1954 1626 1626 4094 0 0 0 0 0 0 26.25 28.83 28.83 10.23 49.37

22 -1.54 -585.0 1099 1954 1626 4094 0.6 0.0 1 50 7.88 1.15 -13.70 0.000 18692 0.041 1.275 1839 2365 3170 3170 4095 0 0 0 0 0 0 25.98 24.82 26.04 10.22 49.76

106 -1.54 -585.0 1838 2366 3172 4095 5.2 -12.1 12 115 0.00 1.05 0.00 0.000 1030 0.000 0.028 1839 1944 3172 3172 4095 0 0 0 0 0 0 26.01 25.96 26.00 10.56 49.25

152 -1.54 -585.0 1838 1944 3173 4095 11.7 -15.0 18 160 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1944 3173 3173 4095 0 0 0 0 0 0 26.27 26.28 26.28 10.56 48.77

196 -1.54 -585.0 1838 1944 3174 4095 17.9 -13.0 24 205 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1944 3175 3175 4095 0 0 0 0 0 0 26.31 26.32 26.32 10.55 48.38

241 -1.54 -585.0 1838 1945 3175 4095 23.4 -12.0 30 250 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1945 3176 3176 4095 0 0 0 0 0 0 26.34 26.36 26.36 10.52 47.71

286 -1.54 -585.0 1838 1945 3176 4095 28.5 -11.3 36 295 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1944 3176 3176 4095 0 0 0 0 0 0 26.37 26.39 26.39 10.50 47.79

331 -1.54 -585.0 1838 1945 3177 4095 33.4 -10.9 42 339 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1945 3177 3177 4095 0 0 0 0 0 0 26.41 26.42 26.41 10.48 46.49

375 -1.54 -585.0 1838 1945 3178 4095 38.1 -10.7 48 384 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1945 3178 3178 4095 0 0 0 0 0 0 26.43 26.45 26.44 10.46 45.74

420 -1.54 -585.0 1838 1945 3179 4095 42.9 -10.9 54 429 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1945 3178 3178 4095 0 0 0 0 0 0 26.46 26.47 26.46 10.45 45.58

465 -1.54 -585.0 1838 1945 3179 4095 47.9 -11.1 60 474 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1945 3180 3180 4094 0 0 0 0 0 0 26.48 26.49 26.49 10.44 44.76

510 -1.54 -585.0 1838 1944 3180 4094 52.7 -10.9 66 519 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1945 3181 3181 4095 0 0 0 0 0 0 26.50 26.51 26.51 10.43 44.99

555 -1.54 -585.0 1838 1945 3181 4095 57.6 -11.0 72 563 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 1944 3181 3181 4095 0 0 0 0 0 0 26.52 26.53 26.53 10.42 44.40

579 end dive: TARGET_DEPTH_EXCEEDED

state 579 begin apogee

585 -0.45 0.0 1839 1945 3183 4094 60.4 -10.8 75 628 3.72 0.00 33.25 1.291 10244 0.051 0.000 2186 1944 2484 2484 4094 0 0 0 0 0 0 26.25 25.32 24.30 10.41 45.19

629 end apogee: CONTROL_FINISHED_OK

state 629 begin climb

631 1.54 585.0 2186 1944 2484 4094 63.0 0.0 80 676 6.80 0.00 33.17 1.270 11270 0.037 0.000 2817 1944 1802 1802 4094 0 0 0 0 0 0 25.50 25.66 23.84 10.27 44.25

713 1.54 585.0 2816 1944 1801 4094 58.0 8.7 90 722 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 1944 1800 1800 4094 0 0 0 0 0 0 25.51 25.52 25.52 10.12 43.26

760 1.54 585.0 2816 1944 1800 4094 53.7 9.3 96 768 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 1944 1800 1800 4094 0 0 0 0 0 0 25.72 25.72 25.72 10.11 43.38

806 1.54 585.0 2816 1944 1799 4094 49.4 9.4 102 815 0.00 1.15 0.00 0.000 260 0.000 0.040 2817 2367 1799 1799 4094 0 0 0 0 0 0 25.85 25.58 25.86 10.11 44.01

870 1.54 585.0 2816 2367 1797 4094 43.2 9.6 111 880 0.00 1.05 0.00 0.000 1030 0.000 0.028 2817 1955 1798 1798 4094 0 0 0 0 0 0 25.77 25.74 25.75 10.10 44.13

916 1.54 585.0 2816 1954 1797 4094 39.1 8.8 117 925 0.00 1.12 0.00 0.000 516 0.000 0.054 2817 1523 1796 1796 4094 0 0 0 0 0 0 26.06 25.76 26.07 10.10 44.32

961 1.54 585.0 2816 1522 1796 4094 35.1 8.7 123 971 0.00 1.00 0.00 0.000 1030 0.000 0.025 2817 1962 1796 1796 4094 0 0 0 0 0 0 25.94 25.90 25.95 10.10 44.99

1007 1.54 585.0 2816 1962 1795 4094 31.2 8.6 129 1016 0.00 1.05 0.00 0.000 260 0.000 0.041 2817 2363 1795 1795 4094 0 0 0 0 0 0 26.17 25.89 26.18 10.09 44.92

1072 1.54 585.0 2815 2363 1794 4094 25.4 8.8 138 1082 0.00 1.00 0.00 0.000 1030 0.000 0.030 2817 1967 1793 1793 4094 0 0 0 0 0 0 26.03 25.98 26.05 10.09 45.43

1118 1.54 585.0 2816 1966 1793 4094 21.5 8.6 144 1126 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 1967 1793 1793 4094 0 0 0 0 0 0 26.27 26.29 26.29 10.11 46.37

1162 1.55 589.4 2816 1967 1791 4094 17.8 8.3 150 1170 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 1967 1791 1791 4094 0 0 0 0 0 0 26.31 26.32 26.32 10.14 47.20

1208 1.65 654.4 2816 1967 1791 4094 14.3 7.7 156 1218 0.25 0.00 4.82 0.509 10246 0.043 0.000 2853 1967 1720 1720 4094 0 0 0 0 0 0 26.14 25.91 25.25 10.16 48.77

1256 1.82 768.2 2853 1966 1719 4094 10.8 7.3 162 1267 0.40 0.00 7.43 0.596 10246 0.034 0.000 2900 1967 1588 1588 4094 0 0 0 0 0 0 26.12 25.86 25.22 10.16 49.44

1305 1.90 822.5 2899 1966 1587 4094 7.0 7.8 168 1315 0.25 0.00 4.55 0.439 10246 0.047 0.000 2931 1967 1523 1523 4094 0 0 0 0 0 0 26.06 25.86 25.25 10.14 49.64

1353 1.90 822.5 2930 1966 1522 4094 2.8 8.9 174 1361 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 1967 1522 1522 4094 0 0 0 0 0 0 26.27 26.29 26.28 10.14 49.76

1369 end climb: FINISH_DEPTH_REACHED

state 1369 begin subsurface finish

1376 0.15 99.1 2931 1966 1522 4094 0.9 9.1 176 1394 5.57 0.00 -7.22 0.000 20486 0.024 0.000 2391 1966 2375 2375 4094 0 0 0 0 0 0 26.06 25.10 26.11 10.14 49.60

1395 end subsurface finish: CONTROL_FINISHED_OK

state 1395 begin surface

ID	401	HD_B	0.013	ROLL_MAX	3888	ALTIM_BOTTOM_PING_RANGE	0
MISSION	22	HD_C	2.4999999e-05	ROLL_DEG	20	ALTIM_TOP_PING_RANGE	0
DIVE	604	HEADING	-1	C_ROLL_DIVE	1950	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	1950	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	25	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.04555	ALTIM_PING_DEPTH	0
D_FLARE	0	TGT_DEFAULT_LAT	5650	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	60	TGT_DEFAULT_LON	-16401	R_PORT_OVSHOOT	23	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	39	ALTIM_PULSE	2
D_NO_BLEED	200	SM_CC	300	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	4
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	1	XPDR_INHIBIT	90
D_FINISH	2	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	53	INT_PRESSURE_YINT	-1.1
D_SAFE	0	PROTOCOL	9	VBD_MAX	4044	DEEPGLIDER	2
D_CALL	0	N_NOCOMM	1	C_VBD	2485	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-3	VBD_CNV	-0.85860002	DEVICE2	165
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	2	DEVICE3	115
T_DIVE	24	CALL_TRIES	10	VBD_TIMEOUT	180	DEVICE4	134
T_MISSION	32	CALL_WAIT	45	PITCH_VBD_SHIFT	0.0015	DEVICE5	151
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	6	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50945	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2340	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	600	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044153114
COURSE_BIAS	0	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00064861565
GLIDE_SLOPE	20	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.6621732e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.3947326e-06
RHO	1.0256	PITCH_GAIN	11	PHONE_SUPPLY	2	SEABIRD_C_G	-10.162049
MASS	73198	PITCH_TIMEOUT	50	PRESSURE_YINT	-50.9827	SEABIRD_C_H	1.142972
MASS_COMP	0	PITCH_AD_RATE	70	PRESSURE_SLOPE	3.2755801e-05	SEABIRD_C_I	-0.0032838252
NAV_MODE	1	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00030784801
FERRY_MAX	45	PITCH_ADJ_GAIN	0	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	0
KALMAN_USE	1	PITCH_ADJ_DBAND	0	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	200	COMPASS_USE	4

GPS1	060817,180212,6017.9019,-17325.6426,6,0.7,20,7.2,0.0,309.0,11,4.8	TGT_NAME	W7N
_CALLS	1	TGT_LATLONG	6025.500,-17335.520
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.249143,0.307275
_SM_DEPTHo	0.72	KALMAN_X	63829.140625,-1971.958496,-495.395416,-231976.843750,36.176880
_SM_ANGLEo	-34.3	KALMAN_Y	43577.957031,2236.288574,900.651611,69272.117188,43.102417
GPS2	060817,181001,6017.9531,-17325.7090,6,0.7,49,7.2,0.5,322.7,11,5.0	MHEAD_RNG_PITCHd_Wd	313.8,16606,-7.3,-8.333,-11.90,11100
SPEED_LIMITS	0.229,0.384	D_GRID	60

FINISH1	0.9,1.024178,99	_10V_AH	10.18,19.702
FINISH2	0.2	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5952.82,-17420.78,060817,164308	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.249417	MEM	329356
HUMID	50.27	DATA_FILE_SIZE	17798,178
INTERNAL_PRESSURE	10.2579	CAP_FILE_SIZE	40570,0
TCM_TEMP	4.80	CFSIZE	1024409600,989790208
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
_24V_AH	23.84,16.080	GPS	060817,181001,6017.953,-17325.709,6,0.7,49,7.2,0.5,322.7,11,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	78	65.42	SBE_CT	120	24	68.93
Roll_motor	8	1275	260.70	AA4831	483	33	380.36
VBD_pump_during_apogee	83	1290	2560.57	WL_blue_red_Chl	382	105	958.28
VBD_pump_during_surface	0	0	0.00	SAT1000	566	17	240.56
VBD_valve	0	0	0.00	SAT1001	739	17	313.88
Iridium_during_init	24	103	61.15	nil	0	0	0.00
Iridium_during_connect	18	160	71.07	nil	0	0	0.00
Iridium_during_xfer	255	223	1356.92	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	50	50	25.73
TT8	490	19	98.82
LPSleep	0	0	0.00
TT8_Active	165	19	33.40
TT8_Sampling	1081	39	438.13
TT8_CF8	146	45	68.49
TT8_Kalman	33	81	27.86
Analog_circuits	481	12	58.78
GPS_charging	0	0	0.00
Compass	431	15	65.85
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	-1.54	-585.0	230	1954	1626	4092	0.0	0.0	0	20	9.95	0.00	0.00	0.000	2049	0.079	0.000	1099	1954	1626	1626	4094	0	0	0	0	0	0	26.25	28.83	28.83	10.23	49.37
22	-1.54	-585.0	1099	1954	1626	4094	0.6	0.0	1	50	7.88	1.15	-13.70	0.000	18692	0.041	1.275	1839	2365	3170	3170	4095	0	0	0	0	0	0	25.98	24.82	26.04	10.22	49.76
106	-1.54	-585.0	1838	2366	3172	4095	5.2	-12.1	12	115	0.00	1.05	0.00	0.000	1030	0.000	0.028	1839	1944	3172	3172	4095	0	0	0	0	0	0	26.01	25.96	26.00	10.56	49.25
152	-1.54	-585.0	1838	1944	3173	4095	11.7	-15.0	18	160	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1944	3173	3173	4095	0	0	0	0	0	0	26.27	26.28	26.28	10.56	48.77
196	-1.54	-585.0	1838	1944	3174	4095	17.9	-13.0	24	205	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1944	3175	3175	4095	0	0	0	0	0	0	26.31	26.32	26.32	10.55	48.38
241	-1.54	-585.0	1838	1945	3175	4095	23.4	-12.0	30	250	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1945	3176	3176	4095	0	0	0	0	0	0	26.34	26.36	26.36	10.52	47.71
286	-1.54	-585.0	1838	1945	3176	4095	28.5	-11.3	36	295	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1944	3176	3176	4095	0	0	0	0	0	0	26.37	26.39	26.39	10.50	47.79
331	-1.54	-585.0	1838	1945	3177	4095	33.4	-10.9	42	339	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1945	3177	3177	4095	0	0	0	0	0	0	26.41	26.42	26.41	10.48	46.49
375	-1.54	-585.0	1838	1945	3178	4095	38.1	-10.7	48	384	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1945	3178	3178	4095	0	0	0	0	0	0	26.43	26.45	26.44	10.46	45.74
420	-1.54	-585.0	1838	1945	3179	4095	42.9	-10.9	54	429	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1945	3178	3178	4095	0	0	0	0	0	0	26.46	26.47	26.46	10.45	45.58
465	-1.54	-585.0	1838	1945	3179	4095	47.9	-11.1	60	474	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1945	3180	3180	4094	0	0	0	0	0	0	26.48	26.49	26.49	10.44	44.76
510	-1.54	-585.0	1838	1944	3180	4094	52.7	-10.9	66	519	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1945	3181	3181	4095	0	0	0	0	0	0	26.50	26.51	26.51	10.43	44.99
555	-1.54	-585.0	1838	1945	3181	4095	57.6	-11.0	72	563	0.00	0.00	0.00	0.000	6	0.000	0.000	1839	1944	3181	3181	4095	0	0	0	0	0	0	26.52	26.53	26.53	10.42	44.40
579	end dive: TARGET_DEPTH_EXCEEDED
state	579	begin apogee
585	-0.45	0.0	1839	1945	3183	4094	60.4	-10.8	75	628	3.72	0.00	33.25	1.291	10244	0.051	0.000	2186	1944	2484	2484	4094	0	0	0	0	0	0	26.25	25.32	24.30	10.41	45.19
629	end apogee: CONTROL_FINISHED_OK
state	629	begin climb
631	1.54	585.0	2186	1944	2484	4094	63.0	0.0	80	676	6.80	0.00	33.17	1.270	11270	0.037	0.000	2817	1944	1802	1802	4094	0	0	0	0	0	0	25.50	25.66	23.84	10.27	44.25
713	1.54	585.0	2816	1944	1801	4094	58.0	8.7	90	722	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	1944	1800	1800	4094	0	0	0	0	0	0	25.51	25.52	25.52	10.12	43.26
760	1.54	585.0	2816	1944	1800	4094	53.7	9.3	96	768	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	1944	1800	1800	4094	0	0	0	0	0	0	25.72	25.72	25.72	10.11	43.38
806	1.54	585.0	2816	1944	1799	4094	49.4	9.4	102	815	0.00	1.15	0.00	0.000	260	0.000	0.040	2817	2367	1799	1799	4094	0	0	0	0	0	0	25.85	25.58	25.86	10.11	44.01
870	1.54	585.0	2816	2367	1797	4094	43.2	9.6	111	880	0.00	1.05	0.00	0.000	1030	0.000	0.028	2817	1955	1798	1798	4094	0	0	0	0	0	0	25.77	25.74	25.75	10.10	44.13
916	1.54	585.0	2816	1954	1797	4094	39.1	8.8	117	925	0.00	1.12	0.00	0.000	516	0.000	0.054	2817	1523	1796	1796	4094	0	0	0	0	0	0	26.06	25.76	26.07	10.10	44.32
961	1.54	585.0	2816	1522	1796	4094	35.1	8.7	123	971	0.00	1.00	0.00	0.000	1030	0.000	0.025	2817	1962	1796	1796	4094	0	0	0	0	0	0	25.94	25.90	25.95	10.10	44.99
1007	1.54	585.0	2816	1962	1795	4094	31.2	8.6	129	1016	0.00	1.05	0.00	0.000	260	0.000	0.041	2817	2363	1795	1795	4094	0	0	0	0	0	0	26.17	25.89	26.18	10.09	44.92
1072	1.54	585.0	2815	2363	1794	4094	25.4	8.8	138	1082	0.00	1.00	0.00	0.000	1030	0.000	0.030	2817	1967	1793	1793	4094	0	0	0	0	0	0	26.03	25.98	26.05	10.09	45.43
1118	1.54	585.0	2816	1966	1793	4094	21.5	8.6	144	1126	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	1967	1793	1793	4094	0	0	0	0	0	0	26.27	26.29	26.29	10.11	46.37
1162	1.55	589.4	2816	1967	1791	4094	17.8	8.3	150	1170	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	1967	1791	1791	4094	0	0	0	0	0	0	26.31	26.32	26.32	10.14	47.20
1208	1.65	654.4	2816	1967	1791	4094	14.3	7.7	156	1218	0.25	0.00	4.82	0.509	10246	0.043	0.000	2853	1967	1720	1720	4094	0	0	0	0	0	0	26.14	25.91	25.25	10.16	48.77
1256	1.82	768.2	2853	1966	1719	4094	10.8	7.3	162	1267	0.40	0.00	7.43	0.596	10246	0.034	0.000	2900	1967	1588	1588	4094	0	0	0	0	0	0	26.12	25.86	25.22	10.16	49.44
1305	1.90	822.5	2899	1966	1587	4094	7.0	7.8	168	1315	0.25	0.00	4.55	0.439	10246	0.047	0.000	2931	1967	1523	1523	4094	0	0	0	0	0	0	26.06	25.86	25.25	10.14	49.64
1353	1.90	822.5	2930	1966	1522	4094	2.8	8.9	174	1361	0.00	0.00	0.00	0.000	6	0.000	0.000	2931	1967	1522	1522	4094	0	0	0	0	0	0	26.27	26.29	26.28	10.14	49.76
1369	end climb: FINISH_DEPTH_REACHED
state	1369	begin subsurface finish
1376	0.15	99.1	2931	1966	1522	4094	0.9	9.1	176	1394	5.57	0.00	-7.22	0.000	20486	0.024	0.000	2391	1966	2375	2375	4094	0	0	0	0	0	0	26.06	25.10	26.11	10.14	49.60
1395	end subsurface finish: CONTROL_FINISHED_OK
state	1395	begin surface