Glider dive log

Bering Sea Jul17 * SG401 * Dive index * Mission links * Dive 981 * 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 981 HEADING -1 C_ROLL_DIVE 1950 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2140 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 20 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 29 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 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 19 CALL_TRIES 10 VBD_TIMEOUT 180 DEVICE4 134

T_MISSION 32 CALL_WAIT 45 PITCH_VBD_SHIFT 0.0015 DEVICE5 151

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 6 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50945 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 220 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3693 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2340 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 500 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_T_G 0.0044153114

COURSE_BIAS 0 PITCH_CNV 0.00312576 MAXI_10V 0.80000001 SEABIRD_T_H 0.00064861565

GLIDE_SLOPE 25 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 25 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 19

CALL_WAIT 45 HEAD_ERRBAND 20 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 2140 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 500 ROLL_MIN 200 VBD_DBAND 2

DEVICE3 115 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 2

DEVICE4 134 MINV_24V 19 R_PORT_OVSHOOT 29 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 981 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 130817,114154,6124.7744,-17345.0215,6,0.8,23,7.1,0.4,294.9,11,4.8 TGT_NAME W11N

_CALLS 2 TGT_LATLONG 6143.620,-17351.301

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.157456,0.526494

_SM_DEPTHo 0.12 KALMAN_X 65723.343750,159.081467,213.470703,-255005.281250,93.789398

_SM_ANGLEo 3.1 KALMAN_Y -55034.382812,2332.272705,775.152466,291694.218750,-97.082764

GPS2 130817,114154,6124.7744,-17345.0215,6,0.8,23,7.1,0.4,294.9,11,4.8 MHEAD_RNG_PITCHd_Wd 336.2,35334,-6.5,-10.526,-10.84,15708

SPEED_LIMITS 0.226,0.395 D_GRID 60

Post-dive calculations and measurements:

FINISH 0.1,1.022234 _10V_AH 10.40,29.842

SM_CCo 1455,0.00,0.000,0,0,874,1383.20 FG_AHR_24Vo 0.000

SM_GC 0.36,30.62,0.57,0.00,0.021,0.034,0.000,239,1965,874,-6.55,-1.50,1383.20,0,0,0,0,0,0,25.90,25.87,25.94 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6149.06,-17422.35,130817,113237 MEM 330712

TT8_MAMPS 0.025466,0.109354 DATA_FILE_SIZE 14245,207

HUMID 54.25 CAP_FILE_SIZE 40717,0

INTERNAL_PRESSURE 9.91605 CFSIZE 1024409600,971276288

TCM_TEMP 2.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,728.18,0x236164,1,24

_24V_AH 23.93,26.883 GPS 130817,125047,6125.080,-17344.996,6,1.1,37,7.1,0.4,130.3,10,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 47 74 84.95 SBE_CT 139 24 79.88

Roll_motor 17 1277 522.78 AA4831 0 0 0.00

VBD_pump_during_apogee 115 1300 3589.80 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 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 539 19 110.99

LPSleep 388 2 8.85

TT8_Active 210 19 43.25

TT8_Sampling 299 39 124.09

TT8_CF8 81 45 38.84

TT8_Kalman 33 81 28.43

Analog_circuits 430 12 53.70

GPS_charging 0 0 0.00

Compass 307 15 48.01

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

9 -1.33 -487.5 2341 1936 2489 4092 0.0 0.0 0 18 4.30 0.00 -2.38 0.000 20482 0.024 0.000 1917 1937 2743 2743 4094 0 0 0 0 0 0 26.11 28.83 26.16 10.33 52.91

22 -1.33 -487.5 1917 1930 2743 4094 0.2 0.0 1 30 0.00 1.12 -2.90 0.000 16900 0.000 1.278 1917 1523 3059 3059 4095 0 0 0 0 0 0 26.32 24.75 26.32 10.39 53.03

98 -1.33 -487.5 1916 1522 3060 4095 7.9 -14.6 13 105 0.00 1.02 0.00 0.000 1030 0.000 0.026 1917 1969 3060 3060 4095 0 0 0 0 0 0 26.14 26.12 26.15 10.46 52.87

138 -1.33 -487.5 1916 1968 3061 4095 12.1 -10.2 19 144 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 1968 3061 3061 4095 0 0 0 0 0 0 26.36 26.38 26.38 10.47 52.91

176 -1.33 -487.5 1917 1968 3062 4095 16.6 -10.5 25 182 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 1969 3062 3062 4095 0 0 0 0 0 0 26.39 26.41 26.41 10.47 52.32

215 -1.33 -487.5 1916 1968 3063 4095 20.5 -10.2 31 221 0.00 0.00 0.00 0.000 6 0.000 0.000 1917 1969 3063 3063 4095 0 0 0 0 0 0 26.41 26.43 26.43 10.47 52.52

253 -1.33 -487.5 1916 1968 3063 4095 24.2 -9.1 37 260 0.00 1.02 0.00 0.000 260 0.000 0.044 1917 2363 3064 3064 4094 0 0 0 0 0 0 26.44 26.15 26.45 10.45 52.75

383 -1.33 -487.5 1917 2363 3066 4094 33.8 -8.9 58 389 0.00 1.02 0.00 0.000 1030 0.000 0.031 1916 1953 3066 3066 4095 0 0 0 0 0 0 26.28 26.25 26.29 10.38 49.76

422 -1.33 -487.5 1916 1952 3066 4095 37.5 -9.2 64 429 0.00 1.08 0.00 0.000 260 0.000 0.040 1917 2360 3066 3066 4095 0 0 0 0 0 0 26.52 26.24 26.53 10.38 49.05

558 -1.33 -487.5 1916 2360 3068 4095 50.2 -9.1 86 564 0.00 0.95 0.00 0.000 1030 0.000 0.030 1917 1979 3068 3068 4095 0 0 0 0 0 0 26.36 26.32 26.37 10.34 48.14

597 -1.33 -487.5 1916 1980 3069 4095 53.7 -8.4 92 604 0.00 1.17 0.00 0.000 516 0.000 0.054 1917 1520 3070 3070 4095 0 0 0 0 0 0 26.59 26.27 26.60 10.34 47.63

631 -1.33 -487.5 1916 1520 3070 4095 56.7 -8.9 97 637 0.00 0.98 0.00 0.000 1030 0.000 0.027 1916 1958 3070 3070 4095 0 0 0 0 0 0 26.41 26.39 26.42 10.34 47.20

667 end dive: TARGET_DEPTH_EXCEEDED

state 667 begin apogee

675 -0.45 0.0 1917 2127 3070 4095 60.1 -8.4 103 710 2.80 0.00 28.27 1.300 10244 0.044 0.000 2187 2127 2484 2484 4094 0 0 0 0 0 0 26.34 25.42 24.39 10.33 47.40

712 end apogee: CONTROL_FINISHED_OK

state 712 begin climb

715 1.33 487.5 2187 2127 2484 4094 63.1 0.0 109 755 5.85 1.10 27.85 1.282 10756 0.034 0.042 2749 1704 1915 1915 4095 0 0 0 0 0 0 25.63 25.57 23.93 10.20 47.40

800 1.71 744.7 2749 1704 1915 4095 58.3 8.8 122 825 1.15 1.05 15.62 1.152 11270 0.022 0.025 2875 2133 1615 1615 4094 0 0 0 0 0 0 25.47 25.44 24.03 10.07 46.33

858 1.90 867.3 2875 2132 1614 4094 52.7 9.7 131 871 0.47 0.00 8.38 0.970 10502 0.035 0.000 2930 2133 1472 1472 4094 0 0 0 0 0 0 25.41 25.07 24.15 10.01 46.14

904 1.95 900.7 2929 2132 1472 4094 47.9 10.3 138 913 0.10 1.15 3.70 0.578 10756 0.075 0.044 2946 1707 1433 1433 4094 0 0 0 0 0 0 25.47 25.26 24.27 9.98 46.73

957 1.95 900.7 2945 1706 1433 4094 42.0 11.1 146 964 0.00 0.98 0.00 0.000 1030 0.000 0.028 2946 2102 1432 1432 4094 0 0 0 0 0 0 25.58 25.56 25.61 9.96 46.45

997 2.02 952.2 2946 2102 1431 4094 37.9 10.2 152 1004 0.17 0.00 4.53 0.636 10246 0.050 0.000 2974 2102 1373 1373 4094 0 0 0 0 0 0 25.70 25.41 24.51 9.96 47.16

1037 2.05 969.0 2974 2102 1372 4094 33.6 10.4 158 1044 0.00 0.00 2.72 0.306 8198 0.000 0.000 2974 2102 1354 1354 4094 0 0 0 0 0 0 25.91 25.47 24.59 9.95 47.32

1077 2.05 969.0 2974 2102 1352 4094 29.3 11.2 164 1083 0.00 1.05 0.00 0.000 516 0.000 0.044 2974 1708 1353 1353 4094 0 0 0 0 0 0 25.97 25.69 25.98 9.95 48.11

1122 2.05 969.0 2974 1708 1352 4094 24.2 11.0 171 1128 0.00 0.93 0.00 0.000 1030 0.000 0.028 2975 2091 1352 1352 4094 0 0 0 0 0 0 25.84 25.81 25.86 9.95 47.87

1161 2.55 1303.4 2974 2090 1351 4094 20.7 8.3 177 1186 1.58 0.00 18.83 0.819 10502 0.026 0.000 3138 2090 964 964 4094 0 0 0 0 0 0 25.89 25.39 24.65 9.99 48.54

1219 2.55 1303.9 3137 2090 963 4094 14.7 10.5 186 1225 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2091 963 963 4095 0 0 0 0 0 0 25.89 25.91 25.91 9.96 51.02

1257 2.55 1303.9 3137 2090 961 4095 10.2 11.8 192 1263 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2091 961 961 4094 0 0 0 0 0 0 25.98 25.99 25.99 9.96 52.04

1296 2.66 1377.8 3137 2090 960 4094 6.5 10.0 198 1309 0.30 1.00 5.45 0.496 10756 0.038 0.042 3180 1711 877 877 4094 0 0 0 0 0 0 25.85 25.41 24.93 9.97 52.48

1339 end climb: SURFACE_DEPTH_REACHED

state 1339 begin surface coast

1352 end surface coast: CONTROL_FINISHED_OK

state 1352 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	981	HEADING	-1	C_ROLL_DIVE	1950	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2140	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	20	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	29	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	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	19	CALL_TRIES	10	VBD_TIMEOUT	180	DEVICE4	134
T_MISSION	32	CALL_WAIT	45	PITCH_VBD_SHIFT	0.0015	DEVICE5	151
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	6	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50945	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	220	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3693	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2340	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	500	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_T_G	0.0044153114
COURSE_BIAS	0	PITCH_CNV	0.00312576	MAXI_10V	0.80000001	SEABIRD_T_H	0.00064861565
GLIDE_SLOPE	25	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	130817,114154,6124.7744,-17345.0215,6,0.8,23,7.1,0.4,294.9,11,4.8	TGT_NAME	W11N
_CALLS	2	TGT_LATLONG	6143.620,-17351.301
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.157456,0.526494
_SM_DEPTHo	0.12	KALMAN_X	65723.343750,159.081467,213.470703,-255005.281250,93.789398
_SM_ANGLEo	3.1	KALMAN_Y	-55034.382812,2332.272705,775.152466,291694.218750,-97.082764
GPS2	130817,114154,6124.7744,-17345.0215,6,0.8,23,7.1,0.4,294.9,11,4.8	MHEAD_RNG_PITCHd_Wd	336.2,35334,-6.5,-10.526,-10.84,15708
SPEED_LIMITS	0.226,0.395	D_GRID	60

FINISH	0.1,1.022234	_10V_AH	10.40,29.842
SM_CCo	1455,0.00,0.000,0,0,874,1383.20	FG_AHR_24Vo	0.000
SM_GC	0.36,30.62,0.57,0.00,0.021,0.034,0.000,239,1965,874,-6.55,-1.50,1383.20,0,0,0,0,0,0,25.90,25.87,25.94	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6149.06,-17422.35,130817,113237	MEM	330712
TT8_MAMPS	0.025466,0.109354	DATA_FILE_SIZE	14245,207
HUMID	54.25	CAP_FILE_SIZE	40717,0
INTERNAL_PRESSURE	9.91605	CFSIZE	1024409600,971276288
TCM_TEMP	2.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,728.18,0x236164,1,24
_24V_AH	23.93,26.883	GPS	130817,125047,6125.080,-17344.996,6,1.1,37,7.1,0.4,130.3,10,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	47	74	84.95	SBE_CT	139	24	79.88
Roll_motor	17	1277	522.78	AA4831	0	0	0.00
VBD_pump_during_apogee	115	1300	3589.80	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	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	539	19	110.99
LPSleep	388	2	8.85
TT8_Active	210	19	43.25
TT8_Sampling	299	39	124.09
TT8_CF8	81	45	38.84
TT8_Kalman	33	81	28.43
Analog_circuits	430	12	53.70
GPS_charging	0	0	0.00
Compass	307	15	48.01
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
9	-1.33	-487.5	2341	1936	2489	4092	0.0	0.0	0	18	4.30	0.00	-2.38	0.000	20482	0.024	0.000	1917	1937	2743	2743	4094	0	0	0	0	0	0	26.11	28.83	26.16	10.33	52.91
22	-1.33	-487.5	1917	1930	2743	4094	0.2	0.0	1	30	0.00	1.12	-2.90	0.000	16900	0.000	1.278	1917	1523	3059	3059	4095	0	0	0	0	0	0	26.32	24.75	26.32	10.39	53.03
98	-1.33	-487.5	1916	1522	3060	4095	7.9	-14.6	13	105	0.00	1.02	0.00	0.000	1030	0.000	0.026	1917	1969	3060	3060	4095	0	0	0	0	0	0	26.14	26.12	26.15	10.46	52.87
138	-1.33	-487.5	1916	1968	3061	4095	12.1	-10.2	19	144	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	1968	3061	3061	4095	0	0	0	0	0	0	26.36	26.38	26.38	10.47	52.91
176	-1.33	-487.5	1917	1968	3062	4095	16.6	-10.5	25	182	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	1969	3062	3062	4095	0	0	0	0	0	0	26.39	26.41	26.41	10.47	52.32
215	-1.33	-487.5	1916	1968	3063	4095	20.5	-10.2	31	221	0.00	0.00	0.00	0.000	6	0.000	0.000	1917	1969	3063	3063	4095	0	0	0	0	0	0	26.41	26.43	26.43	10.47	52.52
253	-1.33	-487.5	1916	1968	3063	4095	24.2	-9.1	37	260	0.00	1.02	0.00	0.000	260	0.000	0.044	1917	2363	3064	3064	4094	0	0	0	0	0	0	26.44	26.15	26.45	10.45	52.75
383	-1.33	-487.5	1917	2363	3066	4094	33.8	-8.9	58	389	0.00	1.02	0.00	0.000	1030	0.000	0.031	1916	1953	3066	3066	4095	0	0	0	0	0	0	26.28	26.25	26.29	10.38	49.76
422	-1.33	-487.5	1916	1952	3066	4095	37.5	-9.2	64	429	0.00	1.08	0.00	0.000	260	0.000	0.040	1917	2360	3066	3066	4095	0	0	0	0	0	0	26.52	26.24	26.53	10.38	49.05
558	-1.33	-487.5	1916	2360	3068	4095	50.2	-9.1	86	564	0.00	0.95	0.00	0.000	1030	0.000	0.030	1917	1979	3068	3068	4095	0	0	0	0	0	0	26.36	26.32	26.37	10.34	48.14
597	-1.33	-487.5	1916	1980	3069	4095	53.7	-8.4	92	604	0.00	1.17	0.00	0.000	516	0.000	0.054	1917	1520	3070	3070	4095	0	0	0	0	0	0	26.59	26.27	26.60	10.34	47.63
631	-1.33	-487.5	1916	1520	3070	4095	56.7	-8.9	97	637	0.00	0.98	0.00	0.000	1030	0.000	0.027	1916	1958	3070	3070	4095	0	0	0	0	0	0	26.41	26.39	26.42	10.34	47.20
667	end dive: TARGET_DEPTH_EXCEEDED
state	667	begin apogee
675	-0.45	0.0	1917	2127	3070	4095	60.1	-8.4	103	710	2.80	0.00	28.27	1.300	10244	0.044	0.000	2187	2127	2484	2484	4094	0	0	0	0	0	0	26.34	25.42	24.39	10.33	47.40
712	end apogee: CONTROL_FINISHED_OK
state	712	begin climb
715	1.33	487.5	2187	2127	2484	4094	63.1	0.0	109	755	5.85	1.10	27.85	1.282	10756	0.034	0.042	2749	1704	1915	1915	4095	0	0	0	0	0	0	25.63	25.57	23.93	10.20	47.40
800	1.71	744.7	2749	1704	1915	4095	58.3	8.8	122	825	1.15	1.05	15.62	1.152	11270	0.022	0.025	2875	2133	1615	1615	4094	0	0	0	0	0	0	25.47	25.44	24.03	10.07	46.33
858	1.90	867.3	2875	2132	1614	4094	52.7	9.7	131	871	0.47	0.00	8.38	0.970	10502	0.035	0.000	2930	2133	1472	1472	4094	0	0	0	0	0	0	25.41	25.07	24.15	10.01	46.14
904	1.95	900.7	2929	2132	1472	4094	47.9	10.3	138	913	0.10	1.15	3.70	0.578	10756	0.075	0.044	2946	1707	1433	1433	4094	0	0	0	0	0	0	25.47	25.26	24.27	9.98	46.73
957	1.95	900.7	2945	1706	1433	4094	42.0	11.1	146	964	0.00	0.98	0.00	0.000	1030	0.000	0.028	2946	2102	1432	1432	4094	0	0	0	0	0	0	25.58	25.56	25.61	9.96	46.45
997	2.02	952.2	2946	2102	1431	4094	37.9	10.2	152	1004	0.17	0.00	4.53	0.636	10246	0.050	0.000	2974	2102	1373	1373	4094	0	0	0	0	0	0	25.70	25.41	24.51	9.96	47.16
1037	2.05	969.0	2974	2102	1372	4094	33.6	10.4	158	1044	0.00	0.00	2.72	0.306	8198	0.000	0.000	2974	2102	1354	1354	4094	0	0	0	0	0	0	25.91	25.47	24.59	9.95	47.32
1077	2.05	969.0	2974	2102	1352	4094	29.3	11.2	164	1083	0.00	1.05	0.00	0.000	516	0.000	0.044	2974	1708	1353	1353	4094	0	0	0	0	0	0	25.97	25.69	25.98	9.95	48.11
1122	2.05	969.0	2974	1708	1352	4094	24.2	11.0	171	1128	0.00	0.93	0.00	0.000	1030	0.000	0.028	2975	2091	1352	1352	4094	0	0	0	0	0	0	25.84	25.81	25.86	9.95	47.87
1161	2.55	1303.4	2974	2090	1351	4094	20.7	8.3	177	1186	1.58	0.00	18.83	0.819	10502	0.026	0.000	3138	2090	964	964	4094	0	0	0	0	0	0	25.89	25.39	24.65	9.99	48.54
1219	2.55	1303.9	3137	2090	963	4094	14.7	10.5	186	1225	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2091	963	963	4095	0	0	0	0	0	0	25.89	25.91	25.91	9.96	51.02
1257	2.55	1303.9	3137	2090	961	4095	10.2	11.8	192	1263	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2091	961	961	4094	0	0	0	0	0	0	25.98	25.99	25.99	9.96	52.04
1296	2.66	1377.8	3137	2090	960	4094	6.5	10.0	198	1309	0.30	1.00	5.45	0.496	10756	0.038	0.042	3180	1711	877	877	4094	0	0	0	0	0	0	25.85	25.41	24.93	9.97	52.48
1339	end climb: SURFACE_DEPTH_REACHED
state	1339	begin surface coast
1352	end surface coast: CONTROL_FINISHED_OK
state	1352	begin surface