Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 644 * 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 644 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 25 ALTIM_FREQUENCY 11

D_ABORT 200 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 47 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 25 VBD_MAX 4044

DEVICE5 151 MISSION 22 R_STBD_OVSHOOT 47 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.162049 VBD_MIN 53

DIVE 644 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 070817,123210,6027.3413,-17333.7188,10,0.9,21,7.1,0.3,192.5,10,4.9 TGT_NAME W8N

_CALLS 1 TGT_LATLONG 6044.340,-17338.881

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.054492,0.445530

_SM_DEPTHo 0.11 KALMAN_X 64300.535156,-1439.416870,-106.187759,-240963.109375,1.471436

_SM_ANGLEo -2.1 KALMAN_Y 43009.609375,2604.087402,451.811951,87332.687500,-145.698425

GPS2 070817,123210,6027.3413,-17333.7188,10,0.9,21,7.1,0.3,192.5,10,4.9 MHEAD_RNG_PITCHd_Wd 345.9,31826,-5.5,-8.333,-10.52,15256

SPEED_LIMITS 0.229,0.384 D_GRID 60

Post-dive calculations and measurements:

FINISH1 1.4,1.023919,117 _10V_AH 10.18,21.132

FINISH2 0.2 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5952.82,-17420.78,070817,105957 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025466,0.23968 MEM 330800

HUMID 51.18 DATA_FILE_SIZE 17829,195

INTERNAL_PRESSURE 10.2481 CAP_FILE_SIZE 40101,0

TCM_TEMP 3.90 CFSIZE 1024409600,987824128

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

_24V_AH 23.87,17.306 GPS 070817,123210,6027.341,-17333.719,10,0.9,21,7.1,0.3,192.5,10,4.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 48 22.66 SBE_CT 132 24 75.77

Roll_motor 18 1290 583.77 AA4831 529 33 417.29

VBD_pump_during_apogee 80 1317 2532.87 WL_blue_red_Chl 419 105 1051.09

VBD_pump_during_surface 0 0 0.00 SAT1000 621 17 263.92

VBD_valve 0 0 0.00 SAT1001 812 17 345.27

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 535 19 107.96

LPSleep 0 0 0.00

TT8_Active 167 19 33.72

TT8_Sampling 816 39 330.77

TT8_CF8 71 45 33.24

TT8_Kalman 33 81 27.83

Analog_circuits 496 12 60.61

GPS_charging 0 0 0.00

Compass 469 15 71.75

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 -1.38 -585.0 2382 1953 2383 4092 0.0 0.0 0 20 4.95 0.00 -4.82 0.000 20482 0.024 0.000 1904 1953 2919 2919 4095 0 0 0 0 0 0 26.14 28.83 26.16 10.36 50.39

23 -1.38 -585.0 1904 1953 2918 4095 0.1 0.0 1 33 0.00 1.12 -2.12 0.000 16644 0.000 1.264 1904 2355 3168 3168 4094 0 0 0 0 0 0 26.34 24.95 26.33 10.47 50.63

88 -1.38 -585.0 1903 2355 3170 4094 6.0 -9.6 10 98 0.00 1.02 0.00 0.000 1030 0.000 0.027 1904 1949 3170 3170 4094 0 0 0 0 0 0 26.08 26.06 26.09 10.54 50.43

134 -1.38 -585.0 1903 1949 3170 4094 10.1 -8.9 16 143 0.00 1.10 0.00 0.000 516 0.000 0.051 1904 1519 3171 3171 4095 0 0 0 0 0 0 26.32 26.02 26.33 10.54 50.23

179 -1.38 -585.0 1903 1519 3171 4095 14.4 -9.4 22 189 0.00 0.95 0.00 0.000 1030 0.000 0.025 1904 1938 3171 3171 4094 0 0 0 0 0 0 26.16 26.14 26.17 10.54 49.72

225 -1.38 -585.0 1903 1938 3172 4094 18.4 -8.8 28 234 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 1938 3172 3172 4095 0 0 0 0 0 0 26.39 26.40 26.40 10.53 50.15

270 -1.38 -585.0 1903 1938 3173 4095 22.3 -8.6 34 279 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 1938 3173 3173 4094 0 0 0 0 0 0 26.41 26.43 26.43 10.53 49.05

315 -1.38 -585.0 1903 1939 3173 4094 25.8 -7.7 40 324 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 1938 3173 3173 4095 0 0 0 0 0 0 26.44 26.46 26.46 10.51 48.85

360 -1.38 -585.0 1903 1940 3174 4095 29.2 -7.4 46 369 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 1940 3174 3174 4095 0 0 0 0 0 0 26.47 26.48 26.48 10.48 48.62

405 -1.38 -585.0 1903 1940 3175 4095 32.6 -7.7 52 414 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 1940 3175 3175 4095 0 0 0 0 0 0 26.49 26.51 26.51 10.47 47.44

450 -1.38 -585.0 1903 1941 3175 4095 36.0 -7.6 58 459 0.00 1.08 0.00 0.000 260 0.000 0.040 1904 2354 3175 3175 4094 0 0 0 0 0 0 26.51 26.23 26.52 10.45 47.08

502 -1.38 -585.0 1903 2354 3176 4094 40.0 -7.7 65 511 0.00 1.05 0.00 0.000 1030 0.000 0.029 1904 1931 3176 3176 4095 0 0 0 0 0 0 26.34 26.29 26.34 10.44 46.53

550 -1.38 -585.0 1903 1930 3177 4095 43.6 -7.9 71 558 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 1931 3177 3177 4094 0 0 0 0 0 0 26.55 26.57 26.56 10.43 45.78

597 -1.38 -585.0 1903 1931 3177 4094 47.2 -7.9 77 605 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 1931 3177 3177 4095 0 0 0 0 0 0 26.58 26.59 26.58 10.42 46.33

643 -1.38 -585.0 1903 1931 3178 4095 50.9 -7.7 83 653 0.00 1.12 0.00 0.000 260 0.000 0.040 1904 2357 3178 3178 4095 0 0 0 0 0 0 26.59 26.31 26.60 10.41 45.70

702 -1.38 -585.0 1903 2357 3179 4095 55.7 -8.1 91 712 0.00 1.02 0.00 0.000 1030 0.000 0.030 1903 1941 3179 3179 4094 0 0 0 0 0 0 26.38 26.35 26.41 10.40 45.19

750 -1.38 -585.0 1903 1941 3179 4094 59.3 -7.9 97 759 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 1942 3179 3179 4094 0 0 0 0 0 0 26.63 26.64 26.64 10.40 45.55

766 end dive: TARGET_DEPTH_EXCEEDED

state 766 begin apogee

772 -0.45 0.0 1904 1941 3180 4094 61.0 -8.0 99 816 3.00 0.00 33.25 1.317 10244 0.048 0.000 2186 1941 2483 2483 4094 0 0 0 0 0 0 26.36 25.06 24.36 10.40 45.51

817 end apogee: CONTROL_FINISHED_OK

state 817 begin climb

819 1.38 585.0 2185 1941 2484 4094 62.9 0.0 104 864 6.20 0.00 33.30 1.283 11270 0.036 0.000 2767 1941 1801 1801 4094 0 0 0 0 0 0 25.58 25.74 23.87 10.26 44.72

902 1.60 736.1 2767 1941 1802 4094 58.5 7.3 114 920 0.65 0.00 9.93 1.052 10246 0.031 0.000 2838 1942 1627 1627 4094 0 0 0 0 0 0 25.35 24.77 24.10 10.10 44.05

957 1.60 736.1 2837 1941 1626 4094 53.8 8.6 121 967 0.00 1.12 0.00 0.000 260 0.000 0.037 2838 2356 1626 1626 4094 0 0 0 0 0 0 25.64 25.39 25.65 10.06 44.21

1009 1.60 736.1 2837 2356 1625 4094 49.1 8.8 128 1019 0.00 1.02 0.00 0.000 1030 0.000 0.031 2838 1961 1625 1625 4094 0 0 0 0 0 0 25.61 25.57 25.61 10.06 44.32

1055 1.60 736.1 2837 1960 1624 4094 45.1 8.6 134 1064 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 1961 1624 1624 4094 0 0 0 0 0 0 25.93 25.94 25.94 10.05 45.47

1101 1.60 736.1 2837 1960 1623 4094 41.2 8.5 140 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 1961 1623 1623 4094 0 0 0 0 0 0 26.01 26.03 26.03 10.05 45.66

1146 1.60 736.1 2837 1961 1622 4094 37.4 8.5 146 1155 0.00 1.08 0.00 0.000 260 0.000 0.039 2838 2359 1622 1622 4094 0 0 0 0 0 0 26.08 25.81 26.10 10.05 45.27

1198 1.61 738.2 2837 2358 1621 4094 32.9 8.3 153 1208 0.00 0.98 0.00 0.000 1030 0.000 0.029 2838 1975 1621 1621 4094 0 0 0 0 0 0 25.92 25.91 25.96 10.05 46.61

1246 1.61 738.2 2837 1975 1620 4094 28.8 9.1 159 1255 0.00 1.17 0.00 0.000 516 0.000 0.056 2838 1525 1621 1621 4094 0 0 0 0 0 0 26.20 25.90 26.22 10.05 46.45

1293 1.68 785.5 2837 1525 1619 4094 24.9 8.0 165 1304 0.15 1.02 4.07 0.509 11270 0.039 0.026 2864 1983 1568 1568 4094 0 0 0 0 0 0 26.03 26.10 25.05 10.08 47.16

1342 1.68 785.5 2863 1983 1567 4094 20.4 10.1 171 1352 0.00 0.95 0.00 0.000 260 0.000 0.040 2864 2348 1567 1567 4094 0 0 0 0 0 0 26.25 25.99 26.26 10.10 48.14

1422 1.68 785.5 2863 2347 1564 4094 11.5 11.5 182 1431 0.00 0.90 0.00 0.000 1030 0.000 0.029 2864 1986 1564 1564 4094 0 0 0 0 0 0 26.11 26.08 26.13 10.12 50.27

1469 1.68 785.5 2864 1986 1563 4094 6.1 11.7 188 1478 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1987 1563 1563 4094 0 0 0 0 0 0 26.36 26.37 26.36 10.13 50.70

1505 end climb: FINISH_DEPTH_REACHED

state 1505 begin subsurface finish

1513 0.18 117.1 2863 1953 1561 4094 1.4 11.5 193 1531 4.75 1.12 -6.88 0.000 20996 0.024 1.291 2398 1524 2351 2351 4095 0 0 0 0 0 0 26.15 24.93 26.20 10.15 50.63

1532 end subsurface finish: CONTROL_FINISHED_OK

state 1532 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	644	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	25	ALTIM_FREQUENCY	11
D_ABORT	200	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	47	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	070817,123210,6027.3413,-17333.7188,10,0.9,21,7.1,0.3,192.5,10,4.9	TGT_NAME	W8N
_CALLS	1	TGT_LATLONG	6044.340,-17338.881
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.054492,0.445530
_SM_DEPTHo	0.11	KALMAN_X	64300.535156,-1439.416870,-106.187759,-240963.109375,1.471436
_SM_ANGLEo	-2.1	KALMAN_Y	43009.609375,2604.087402,451.811951,87332.687500,-145.698425
GPS2	070817,123210,6027.3413,-17333.7188,10,0.9,21,7.1,0.3,192.5,10,4.9	MHEAD_RNG_PITCHd_Wd	345.9,31826,-5.5,-8.333,-10.52,15256
SPEED_LIMITS	0.229,0.384	D_GRID	60

FINISH1	1.4,1.023919,117	_10V_AH	10.18,21.132
FINISH2	0.2	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5952.82,-17420.78,070817,105957	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025466,0.23968	MEM	330800
HUMID	51.18	DATA_FILE_SIZE	17829,195
INTERNAL_PRESSURE	10.2481	CAP_FILE_SIZE	40101,0
TCM_TEMP	3.90	CFSIZE	1024409600,987824128
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.87,17.306	GPS	070817,123210,6027.341,-17333.719,10,0.9,21,7.1,0.3,192.5,10,4.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	48	22.66	SBE_CT	132	24	75.77
Roll_motor	18	1290	583.77	AA4831	529	33	417.29
VBD_pump_during_apogee	80	1317	2532.87	WL_blue_red_Chl	419	105	1051.09
VBD_pump_during_surface	0	0	0.00	SAT1000	621	17	263.92
VBD_valve	0	0	0.00	SAT1001	812	17	345.27
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	535	19	107.96
LPSleep	0	0	0.00
TT8_Active	167	19	33.72
TT8_Sampling	816	39	330.77
TT8_CF8	71	45	33.24
TT8_Kalman	33	81	27.83
Analog_circuits	496	12	60.61
GPS_charging	0	0	0.00
Compass	469	15	71.75
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	-1.38	-585.0	2382	1953	2383	4092	0.0	0.0	0	20	4.95	0.00	-4.82	0.000	20482	0.024	0.000	1904	1953	2919	2919	4095	0	0	0	0	0	0	26.14	28.83	26.16	10.36	50.39
23	-1.38	-585.0	1904	1953	2918	4095	0.1	0.0	1	33	0.00	1.12	-2.12	0.000	16644	0.000	1.264	1904	2355	3168	3168	4094	0	0	0	0	0	0	26.34	24.95	26.33	10.47	50.63
88	-1.38	-585.0	1903	2355	3170	4094	6.0	-9.6	10	98	0.00	1.02	0.00	0.000	1030	0.000	0.027	1904	1949	3170	3170	4094	0	0	0	0	0	0	26.08	26.06	26.09	10.54	50.43
134	-1.38	-585.0	1903	1949	3170	4094	10.1	-8.9	16	143	0.00	1.10	0.00	0.000	516	0.000	0.051	1904	1519	3171	3171	4095	0	0	0	0	0	0	26.32	26.02	26.33	10.54	50.23
179	-1.38	-585.0	1903	1519	3171	4095	14.4	-9.4	22	189	0.00	0.95	0.00	0.000	1030	0.000	0.025	1904	1938	3171	3171	4094	0	0	0	0	0	0	26.16	26.14	26.17	10.54	49.72
225	-1.38	-585.0	1903	1938	3172	4094	18.4	-8.8	28	234	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	1938	3172	3172	4095	0	0	0	0	0	0	26.39	26.40	26.40	10.53	50.15
270	-1.38	-585.0	1903	1938	3173	4095	22.3	-8.6	34	279	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	1938	3173	3173	4094	0	0	0	0	0	0	26.41	26.43	26.43	10.53	49.05
315	-1.38	-585.0	1903	1939	3173	4094	25.8	-7.7	40	324	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	1938	3173	3173	4095	0	0	0	0	0	0	26.44	26.46	26.46	10.51	48.85
360	-1.38	-585.0	1903	1940	3174	4095	29.2	-7.4	46	369	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	1940	3174	3174	4095	0	0	0	0	0	0	26.47	26.48	26.48	10.48	48.62
405	-1.38	-585.0	1903	1940	3175	4095	32.6	-7.7	52	414	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	1940	3175	3175	4095	0	0	0	0	0	0	26.49	26.51	26.51	10.47	47.44
450	-1.38	-585.0	1903	1941	3175	4095	36.0	-7.6	58	459	0.00	1.08	0.00	0.000	260	0.000	0.040	1904	2354	3175	3175	4094	0	0	0	0	0	0	26.51	26.23	26.52	10.45	47.08
502	-1.38	-585.0	1903	2354	3176	4094	40.0	-7.7	65	511	0.00	1.05	0.00	0.000	1030	0.000	0.029	1904	1931	3176	3176	4095	0	0	0	0	0	0	26.34	26.29	26.34	10.44	46.53
550	-1.38	-585.0	1903	1930	3177	4095	43.6	-7.9	71	558	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	1931	3177	3177	4094	0	0	0	0	0	0	26.55	26.57	26.56	10.43	45.78
597	-1.38	-585.0	1903	1931	3177	4094	47.2	-7.9	77	605	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	1931	3177	3177	4095	0	0	0	0	0	0	26.58	26.59	26.58	10.42	46.33
643	-1.38	-585.0	1903	1931	3178	4095	50.9	-7.7	83	653	0.00	1.12	0.00	0.000	260	0.000	0.040	1904	2357	3178	3178	4095	0	0	0	0	0	0	26.59	26.31	26.60	10.41	45.70
702	-1.38	-585.0	1903	2357	3179	4095	55.7	-8.1	91	712	0.00	1.02	0.00	0.000	1030	0.000	0.030	1903	1941	3179	3179	4094	0	0	0	0	0	0	26.38	26.35	26.41	10.40	45.19
750	-1.38	-585.0	1903	1941	3179	4094	59.3	-7.9	97	759	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	1942	3179	3179	4094	0	0	0	0	0	0	26.63	26.64	26.64	10.40	45.55
766	end dive: TARGET_DEPTH_EXCEEDED
state	766	begin apogee
772	-0.45	0.0	1904	1941	3180	4094	61.0	-8.0	99	816	3.00	0.00	33.25	1.317	10244	0.048	0.000	2186	1941	2483	2483	4094	0	0	0	0	0	0	26.36	25.06	24.36	10.40	45.51
817	end apogee: CONTROL_FINISHED_OK
state	817	begin climb
819	1.38	585.0	2185	1941	2484	4094	62.9	0.0	104	864	6.20	0.00	33.30	1.283	11270	0.036	0.000	2767	1941	1801	1801	4094	0	0	0	0	0	0	25.58	25.74	23.87	10.26	44.72
902	1.60	736.1	2767	1941	1802	4094	58.5	7.3	114	920	0.65	0.00	9.93	1.052	10246	0.031	0.000	2838	1942	1627	1627	4094	0	0	0	0	0	0	25.35	24.77	24.10	10.10	44.05
957	1.60	736.1	2837	1941	1626	4094	53.8	8.6	121	967	0.00	1.12	0.00	0.000	260	0.000	0.037	2838	2356	1626	1626	4094	0	0	0	0	0	0	25.64	25.39	25.65	10.06	44.21
1009	1.60	736.1	2837	2356	1625	4094	49.1	8.8	128	1019	0.00	1.02	0.00	0.000	1030	0.000	0.031	2838	1961	1625	1625	4094	0	0	0	0	0	0	25.61	25.57	25.61	10.06	44.32
1055	1.60	736.1	2837	1960	1624	4094	45.1	8.6	134	1064	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	1961	1624	1624	4094	0	0	0	0	0	0	25.93	25.94	25.94	10.05	45.47
1101	1.60	736.1	2837	1960	1623	4094	41.2	8.5	140	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	1961	1623	1623	4094	0	0	0	0	0	0	26.01	26.03	26.03	10.05	45.66
1146	1.60	736.1	2837	1961	1622	4094	37.4	8.5	146	1155	0.00	1.08	0.00	0.000	260	0.000	0.039	2838	2359	1622	1622	4094	0	0	0	0	0	0	26.08	25.81	26.10	10.05	45.27
1198	1.61	738.2	2837	2358	1621	4094	32.9	8.3	153	1208	0.00	0.98	0.00	0.000	1030	0.000	0.029	2838	1975	1621	1621	4094	0	0	0	0	0	0	25.92	25.91	25.96	10.05	46.61
1246	1.61	738.2	2837	1975	1620	4094	28.8	9.1	159	1255	0.00	1.17	0.00	0.000	516	0.000	0.056	2838	1525	1621	1621	4094	0	0	0	0	0	0	26.20	25.90	26.22	10.05	46.45
1293	1.68	785.5	2837	1525	1619	4094	24.9	8.0	165	1304	0.15	1.02	4.07	0.509	11270	0.039	0.026	2864	1983	1568	1568	4094	0	0	0	0	0	0	26.03	26.10	25.05	10.08	47.16
1342	1.68	785.5	2863	1983	1567	4094	20.4	10.1	171	1352	0.00	0.95	0.00	0.000	260	0.000	0.040	2864	2348	1567	1567	4094	0	0	0	0	0	0	26.25	25.99	26.26	10.10	48.14
1422	1.68	785.5	2863	2347	1564	4094	11.5	11.5	182	1431	0.00	0.90	0.00	0.000	1030	0.000	0.029	2864	1986	1564	1564	4094	0	0	0	0	0	0	26.11	26.08	26.13	10.12	50.27
1469	1.68	785.5	2864	1986	1563	4094	6.1	11.7	188	1478	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1987	1563	1563	4094	0	0	0	0	0	0	26.36	26.37	26.36	10.13	50.70
1505	end climb: FINISH_DEPTH_REACHED
state	1505	begin subsurface finish
1513	0.18	117.1	2863	1953	1561	4094	1.4	11.5	193	1531	4.75	1.12	-6.88	0.000	20996	0.024	1.291	2398	1524	2351	2351	4095	0	0	0	0	0	0	26.15	24.93	26.20	10.15	50.63
1532	end subsurface finish: CONTROL_FINISHED_OK
state	1532	begin surface