Glider dive log

Taiwan Jan14 * SG017 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 17 HD_C 2.6800001e-06 ROLL_MAX 3750 ALTIM_BOTTOM_TURN_MARGIN 20

MISSION 10 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 10 ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 15 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1800 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 66 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 300 TGT_DEFAULT_LON 6 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 350 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 27 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 562.03961 R_STBD_OVSHOOT 28 XPDR_VALID 0

D_BOOST 2 N_FILEKB 8 ROLL_AD_RATE 320 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_MIN 452 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 1 VBD_MAX 3835 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2784 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 53

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 38

T_DIVE 90 CALL_TRIES 5 VBD_TIMEOUT 540 DEVICE4 -1

T_MISSION 120 CALL_WAIT 60 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -7 T_GPS_CHARGE -228960.34 DBDW 0 COMPASS_DEVICE 97

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 180 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 85 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 56 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 1050 MINV_24V 22 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2880 FG_AHR_10V 0 SEABIRD_T_G 0.0043326267

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00063240388

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PHONE_SUPPLY -2 SEABIRD_T_I 2.4142833e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -5.3696866 SEABIRD_T_J 2.5545187e-06

MASS 52130 PITCH_GAIN 20 PRESSURE_SLOPE 9.1642258e-05 SEABIRD_C_G -9.8342714

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 64 SEABIRD_C_H 1.1014049

NAV_MODE 2 PITCH_AD_RATE 150 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0017558541

FERRY_MAX 60 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00021975346

KALMAN_USE 2 PITCH_ADJ_GAIN 0.015 COMPASS_USE 4

HD_A 0.00251 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0080399998 ROLL_MIN 250 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 64 D_OFFGRID 180 PHONE_SUPPLY -2 SM_CC 562.03961

AH0_10V 56 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 85 D_SAFE 0 PITCH_ADJ_GAIN 0.015 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_TGT 300 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 20 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 FERRY_MAX 60 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 1050 TGT_DEFAULT_LAT 66

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON 6

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.001 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.00251 PRESSURE_SLOPE 9.1642258e-05 T_EPIRB 0

CALL_TRIES 5 HD_B 0.0080399998 PRESSURE_YINT -5.3696866 T_GPS 15

CALL_WAIT 60 HD_C 2.6800001e-06 PROTOCOL 9 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -228960.34

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 120

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 17 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2880 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 1800 LOGGERDEVICE2 -1 ROLL_AD_RATE 320 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2000 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -7

C_VBD 2784 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 0 ROLL_MAX 3750 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52130 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 250 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3835

DEVICE2 53 MINV_10V 9.5 R_PORT_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 38 MINV_24V 22 R_STBD_OVSHOOT 28 VBD_MIN 452

DEVICE4 -1 MISSION 10 SEABIRD_C_G -9.8342714 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1014049 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0017558541 VBD_TIMEOUT 540

DIVE 10 NOCOMM_ACTION 163 SEABIRD_C_J 0.00021975346 W_ADJ_DBAND 0

D_ABORT 350 N_DIVES 15 SEABIRD_T_G 0.0043326267 XPDR_DEVICE 24

D_BOOST 2 N_FILEKB 8 SEABIRD_T_H 0.00063240388 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.4142833e-05 XPDR_VALID 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.5545187e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 300114,215724,2113.827,11955.590,39,1.7,57,-2.5 TGT_NAME r4s

_CALLS 1 TGT_LATLONG 2107.600,11957.600

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 300114,220315,2113.875,11955.610,13,2.5,33,-2.5 MHEAD_RNG_PITCHd_Wd 174.3,12117,-17.1,-11.111,-20.35,2019

SPEED_LIMITS 0.192,0.300 D_GRID 3440

Post-dive calculations and measurements:

FINISH 0.4,1.023234 _10V_AH 9.9,7.047

SM_CCo 6092,97.07,0.090,0,0,491,562.23 FG_AHR_24Vo 0.000

SM_GC 0.77,9.32,2.12,97.07,0.033,0.034,0.090,1035,2002,491,-8.38,0.90,562.23,0,0,0,0,0,0,24.90,24.85,24.67 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2106.38,11953.58,300114,181840 MEM 324236

TT8_MAMPS 0.020972,0.020972 DATA_FILE_SIZE 56820,946

HUMID 49.72 CAP_FILE_SIZE 93332,0

INTERNAL_PRESSURE 8.86753 CFSIZE 256368640,251564032

TCM_TEMP 23.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS -1 CURRENT 0.207, 33.1,1

_24V_AH 23.8,7.890 GPS 300114,234803,2113.757,11956.292,12,2.5,33,-2.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 159 79.53 SBE_CT 636 23 351.81

Roll_motor 73 75 133.16 AA3830 946 33 743.53

VBD_pump_during_apogee 404 843 8125.46 WL_BB2FLVMG 786 105 1964.61

VBD_pump_during_surface 97 89 206.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 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 223 135 720.98 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 34 12.20

TT8 2220 12 279.56

LPSleep 1662 2 36.04

TT8_Active 601 12 75.70

TT8_Sampling 1896 39 744.81

TT8_CF8 151 50 75.36

TT8_Kalman 0 0 0.00

Analog_circuits 1640 12 194.85

GPS_charging 0 0 0.00

Compass 1648 5 81.58

RAFOS 0 0 0.00

Transponder 1 5 0.08

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.00 -146.0 1037 1987 409 563 0.0 0.0 0 112 0.00 0.00 -93.78 0.000 16386 0.000 0.000 1037 1988 2975 2975 2975 0 0 0 0 0 0 28.83 28.83 28.83

115 -1.00 -146.0 1037 1987 2975 2975 3.3 -5.9 15 142 8.98 2.45 -8.40 0.000 18948 0.160 0.060 2658 593 3381 3336 3427 0 0 0 0 0 0 24.65 24.72 25.07

237 -1.00 -146.0 2658 593 3337 3428 25.9 -14.6 37 245 0.00 2.38 0.00 0.000 1030 0.000 0.027 2658 2004 3382 3337 3428 0 0 0 0 0 0 28.83 24.85 28.83

547 -1.00 -146.0 1696 2002 3315 3426 72.4 -13.0 98 555 0.00 2.45 0.00 0.000 516 0.000 0.063 2658 586 3383 3337 3429 0 0 0 0 0 0 28.83 24.87 28.83

612 -1.00 -146.0 1664 586 3314 3426 80.8 -11.9 110 619 0.00 2.40 0.00 0.000 1030 0.000 0.056 2658 2002 3383 3337 3429 0 0 0 0 0 0 28.83 24.90 28.83

923 -1.03 -146.0 2658 2001 3337 3430 112.8 -10.3 171 930 0.00 2.42 0.00 0.000 516 0.000 0.034 2658 580 3383 3337 3430 0 0 0 0 0 0 28.83 24.91 28.83

1040 -1.08 -146.0 2657 580 3338 3430 124.5 -9.7 193 1047 0.00 2.40 0.00 0.000 1030 0.000 0.028 2658 2006 3384 3338 3431 0 0 0 0 0 0 28.83 24.94 28.83

1354 -1.12 -146.0 2658 2006 3338 3431 151.4 -8.0 254 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2006 3385 3338 3432 0 0 0 0 0 0 28.83 28.83 28.83

1665 -1.17 -146.0 2658 2006 3338 3432 176.4 -8.0 315 1673 0.12 2.45 0.00 0.000 4612 0.063 0.037 2615 584 3385 3338 3432 0 0 0 0 0 0 25.01 24.94 28.83

1755 -1.17 -146.0 1664 584 3316 3428 185.5 -10.2 332 1762 0.00 2.40 0.00 0.000 1030 0.000 0.059 2615 1998 3385 3338 3432 0 0 0 0 0 0 28.83 24.97 28.83

2070 -1.17 -146.0 2615 1998 3338 3431 217.4 -10.2 377 2080 0.00 2.40 0.00 0.000 516 0.000 0.038 2615 593 3384 3337 3431 0 0 0 0 0 0 28.83 24.96 28.83

2123 -1.17 -146.0 2615 593 3337 3431 222.8 -10.3 382 2133 0.00 2.38 0.00 0.000 1030 0.000 0.039 2615 1998 3384 3337 3431 0 0 0 0 0 0 28.83 24.93 28.83

2433 -1.17 -146.0 2615 1998 3336 3431 253.4 -9.8 413 2443 0.00 2.42 0.00 0.000 516 0.000 0.040 2615 587 3384 3336 3432 0 0 0 0 0 0 28.83 24.98 28.83

2517 -1.19 -146.0 2615 587 3336 3431 261.7 -10.1 421 2526 0.00 2.40 0.00 0.000 1030 0.000 0.034 2615 2000 3383 3336 3431 0 0 0 0 0 0 28.83 25.01 28.83

2825 -1.19 -146.0 2615 2000 3333 3431 293.1 -10.4 452 2835 0.00 2.42 0.00 0.000 516 0.000 0.041 2615 592 3382 3333 3431 0 0 0 0 0 0 28.83 25.00 28.83

2868 -1.19 -146.0 2615 592 3333 3431 297.6 -10.8 456 2877 0.00 2.42 0.00 0.000 1030 0.000 0.034 2615 2003 3381 3332 3431 0 0 0 0 0 0 28.83 25.02 28.83

2896 end dive: TARGET_DEPTH_EXCEEDED

state 2896 begin apogee

2901 -0.25 0.0 2615 1777 3332 3431 300.7 -10.6 459 3020 0.98 0.00 113.82 0.843 10246 0.085 0.000 2821 1777 2783 2729 2838 0 0 0 0 0 0 24.96 28.83 23.80

3023 end apogee: CONTROL_FINISHED_OK

state 3023 begin climb

3025 1.00 146.0 2821 1777 2729 2838 306.9 0.0 471 3149 1.25 2.53 114.85 0.820 10756 0.054 0.049 3098 419 2187 2124 2251 0 0 0 0 0 0 24.51 24.40 23.80

3233 0.98 154.8 3098 418 2120 2246 296.4 10.7 492 3247 0.00 2.40 8.12 0.670 9222 0.000 0.037 3098 1801 2152 2088 2217 0 0 0 0 0 0 28.83 24.63 23.95

3555 0.97 159.4 3098 1801 2083 2214 262.5 10.9 524 3567 0.00 2.67 4.95 0.582 8452 0.000 0.057 3098 3206 2134 2069 2199 0 0 0 0 0 0 28.83 24.64 24.07

3600 0.95 159.4 3098 3206 2069 2199 257.4 11.1 528 3610 0.00 2.40 0.00 0.000 1030 0.000 0.037 3098 1825 2133 2068 2199 0 0 0 0 0 0 28.83 24.77 28.83

3910 0.96 169.2 3098 1825 2067 2197 224.5 10.6 559 3931 0.00 2.65 9.30 0.702 8708 0.000 0.050 3098 390 2092 2030 2154 0 0 0 0 0 0 28.83 24.61 24.01

3956 0.96 169.2 3098 390 2030 2152 219.4 11.5 563 3963 0.00 2.47 0.00 0.000 1030 0.000 0.037 3098 1801 2091 2030 2152 0 0 0 0 0 0 28.83 24.77 28.83

4266 0.98 192.1 3098 1801 2030 2152 187.4 9.9 606 4292 0.00 2.60 19.45 0.773 8452 0.000 0.057 3098 3200 2000 1941 2060 0 0 0 0 0 0 28.83 24.50 23.91

4397 1.01 216.7 3098 3200 1940 2060 174.7 9.9 630 4423 0.00 2.45 21.35 0.758 9222 0.000 0.064 3098 1789 1900 1839 1962 0 0 0 0 0 0 28.83 24.82 23.89

4730 1.03 216.7 3098 1789 1831 1958 142.8 11.2 694 4737 0.00 2.47 0.00 0.000 516 0.000 0.076 3098 389 1894 1832 1957 0 0 0 0 0 0 28.83 24.81 28.83

4785 1.06 216.7 2112 389 1781 1946 136.1 12.2 704 4793 0.00 2.45 0.00 0.000 1030 0.000 0.063 3098 1801 1892 1831 1954 0 0 0 0 0 0 28.83 24.85 28.83

5102 1.16 288.0 3098 1801 1831 1955 108.4 7.5 765 5170 0.12 2.62 57.88 0.741 10500 0.063 0.053 3138 3201 1608 1545 1671 0 0 0 0 0 0 24.95 24.44 23.89

5235 1.17 293.4 2176 3199 1508 1663 95.4 10.8 788 5249 0.00 2.45 5.55 0.529 9222 0.000 0.063 3138 1792 1586 1521 1652 0 0 0 0 0 0 28.83 24.75 24.09

5558 1.24 332.1 3138 1793 1518 1650 63.3 9.1 850 5596 0.00 2.55 32.22 0.674 8708 0.000 0.044 3138 396 1429 1364 1495 0 0 0 0 0 0 28.83 24.49 23.95

5707 1.30 352.3 3138 395 1362 1490 48.8 10.1 877 5734 0.12 2.42 17.48 0.628 11270 0.058 0.030 3177 1813 1346 1280 1412 0 0 0 0 0 0 24.82 24.80 24.01

6044 1.30 352.3 3177 1813 1275 1410 4.0 14.5 941 6051 0.00 2.45 0.00 0.000 260 0.000 0.046 3178 3208 1342 1275 1410 0 0 0 0 0 0 28.83 24.82 28.83

6061 end climb: SURFACE_DEPTH_REACHED

state 6061 begin surface coast

6072 end surface coast: CONTROL_FINISHED_OK

state 6072 begin surface

ID	17	HD_C	2.6800001e-06	ROLL_MAX	3750	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	10	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	15	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1800	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	66	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	300	TGT_DEFAULT_LON	6	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	350	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	27	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	562.03961	R_STBD_OVSHOOT	28	XPDR_VALID	0
D_BOOST	2	N_FILEKB	8	ROLL_AD_RATE	320	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_MIN	452	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	1	VBD_MAX	3835	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2784	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	53
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	38
T_DIVE	90	CALL_TRIES	5	VBD_TIMEOUT	540	DEVICE4	-1
T_MISSION	120	CALL_WAIT	60	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-7	T_GPS_CHARGE	-228960.34	DBDW	0	COMPASS_DEVICE	97
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	180	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	85	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	56	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	1050	MINV_24V	22	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2880	FG_AHR_10V	0	SEABIRD_T_G	0.0043326267
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00063240388
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PHONE_SUPPLY	-2	SEABIRD_T_I	2.4142833e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-5.3696866	SEABIRD_T_J	2.5545187e-06
MASS	52130	PITCH_GAIN	20	PRESSURE_SLOPE	9.1642258e-05	SEABIRD_C_G	-9.8342714
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	64	SEABIRD_C_H	1.1014049
NAV_MODE	2	PITCH_AD_RATE	150	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0017558541
FERRY_MAX	60	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00021975346
KALMAN_USE	2	PITCH_ADJ_GAIN	0.015	COMPASS_USE	4
HD_A	0.00251	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0080399998	ROLL_MIN	250	ALTIM_TOP_PING_RANGE	0

GPS1	300114,215724,2113.827,11955.590,39,1.7,57,-2.5	TGT_NAME	r4s
_CALLS	1	TGT_LATLONG	2107.600,11957.600
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	300114,220315,2113.875,11955.610,13,2.5,33,-2.5	MHEAD_RNG_PITCHd_Wd	174.3,12117,-17.1,-11.111,-20.35,2019
SPEED_LIMITS	0.192,0.300	D_GRID	3440

FINISH	0.4,1.023234	_10V_AH	9.9,7.047
SM_CCo	6092,97.07,0.090,0,0,491,562.23	FG_AHR_24Vo	0.000
SM_GC	0.77,9.32,2.12,97.07,0.033,0.034,0.090,1035,2002,491,-8.38,0.90,562.23,0,0,0,0,0,0,24.90,24.85,24.67	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2106.38,11953.58,300114,181840	MEM	324236
TT8_MAMPS	0.020972,0.020972	DATA_FILE_SIZE	56820,946
HUMID	49.72	CAP_FILE_SIZE	93332,0
INTERNAL_PRESSURE	8.86753	CFSIZE	256368640,251564032
TCM_TEMP	23.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	-1	CURRENT	0.207, 33.1,1
_24V_AH	23.8,7.890	GPS	300114,234803,2113.757,11956.292,12,2.5,33,-2.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	159	79.53	SBE_CT	636	23	351.81
Roll_motor	73	75	133.16	AA3830	946	33	743.53
VBD_pump_during_apogee	404	843	8125.46	WL_BB2FLVMG	786	105	1964.61
VBD_pump_during_surface	97	89	206.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	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	223	135	720.98	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	34	12.20
TT8	2220	12	279.56
LPSleep	1662	2	36.04
TT8_Active	601	12	75.70
TT8_Sampling	1896	39	744.81
TT8_CF8	151	50	75.36
TT8_Kalman	0	0	0.00
Analog_circuits	1640	12	194.85
GPS_charging	0	0	0.00
Compass	1648	5	81.58
RAFOS	0	0	0.00
Transponder	1	5	0.08

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.00	-146.0	1037	1987	409	563	0.0	0.0	0	112	0.00	0.00	-93.78	0.000	16386	0.000	0.000	1037	1988	2975	2975	2975	0	0	0	0	0	0	28.83	28.83	28.83
115	-1.00	-146.0	1037	1987	2975	2975	3.3	-5.9	15	142	8.98	2.45	-8.40	0.000	18948	0.160	0.060	2658	593	3381	3336	3427	0	0	0	0	0	0	24.65	24.72	25.07
237	-1.00	-146.0	2658	593	3337	3428	25.9	-14.6	37	245	0.00	2.38	0.00	0.000	1030	0.000	0.027	2658	2004	3382	3337	3428	0	0	0	0	0	0	28.83	24.85	28.83
547	-1.00	-146.0	1696	2002	3315	3426	72.4	-13.0	98	555	0.00	2.45	0.00	0.000	516	0.000	0.063	2658	586	3383	3337	3429	0	0	0	0	0	0	28.83	24.87	28.83
612	-1.00	-146.0	1664	586	3314	3426	80.8	-11.9	110	619	0.00	2.40	0.00	0.000	1030	0.000	0.056	2658	2002	3383	3337	3429	0	0	0	0	0	0	28.83	24.90	28.83
923	-1.03	-146.0	2658	2001	3337	3430	112.8	-10.3	171	930	0.00	2.42	0.00	0.000	516	0.000	0.034	2658	580	3383	3337	3430	0	0	0	0	0	0	28.83	24.91	28.83
1040	-1.08	-146.0	2657	580	3338	3430	124.5	-9.7	193	1047	0.00	2.40	0.00	0.000	1030	0.000	0.028	2658	2006	3384	3338	3431	0	0	0	0	0	0	28.83	24.94	28.83
1354	-1.12	-146.0	2658	2006	3338	3431	151.4	-8.0	254	1360	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2006	3385	3338	3432	0	0	0	0	0	0	28.83	28.83	28.83
1665	-1.17	-146.0	2658	2006	3338	3432	176.4	-8.0	315	1673	0.12	2.45	0.00	0.000	4612	0.063	0.037	2615	584	3385	3338	3432	0	0	0	0	0	0	25.01	24.94	28.83
1755	-1.17	-146.0	1664	584	3316	3428	185.5	-10.2	332	1762	0.00	2.40	0.00	0.000	1030	0.000	0.059	2615	1998	3385	3338	3432	0	0	0	0	0	0	28.83	24.97	28.83
2070	-1.17	-146.0	2615	1998	3338	3431	217.4	-10.2	377	2080	0.00	2.40	0.00	0.000	516	0.000	0.038	2615	593	3384	3337	3431	0	0	0	0	0	0	28.83	24.96	28.83
2123	-1.17	-146.0	2615	593	3337	3431	222.8	-10.3	382	2133	0.00	2.38	0.00	0.000	1030	0.000	0.039	2615	1998	3384	3337	3431	0	0	0	0	0	0	28.83	24.93	28.83
2433	-1.17	-146.0	2615	1998	3336	3431	253.4	-9.8	413	2443	0.00	2.42	0.00	0.000	516	0.000	0.040	2615	587	3384	3336	3432	0	0	0	0	0	0	28.83	24.98	28.83
2517	-1.19	-146.0	2615	587	3336	3431	261.7	-10.1	421	2526	0.00	2.40	0.00	0.000	1030	0.000	0.034	2615	2000	3383	3336	3431	0	0	0	0	0	0	28.83	25.01	28.83
2825	-1.19	-146.0	2615	2000	3333	3431	293.1	-10.4	452	2835	0.00	2.42	0.00	0.000	516	0.000	0.041	2615	592	3382	3333	3431	0	0	0	0	0	0	28.83	25.00	28.83
2868	-1.19	-146.0	2615	592	3333	3431	297.6	-10.8	456	2877	0.00	2.42	0.00	0.000	1030	0.000	0.034	2615	2003	3381	3332	3431	0	0	0	0	0	0	28.83	25.02	28.83
2896	end dive: TARGET_DEPTH_EXCEEDED
state	2896	begin apogee
2901	-0.25	0.0	2615	1777	3332	3431	300.7	-10.6	459	3020	0.98	0.00	113.82	0.843	10246	0.085	0.000	2821	1777	2783	2729	2838	0	0	0	0	0	0	24.96	28.83	23.80
3023	end apogee: CONTROL_FINISHED_OK
state	3023	begin climb
3025	1.00	146.0	2821	1777	2729	2838	306.9	0.0	471	3149	1.25	2.53	114.85	0.820	10756	0.054	0.049	3098	419	2187	2124	2251	0	0	0	0	0	0	24.51	24.40	23.80
3233	0.98	154.8	3098	418	2120	2246	296.4	10.7	492	3247	0.00	2.40	8.12	0.670	9222	0.000	0.037	3098	1801	2152	2088	2217	0	0	0	0	0	0	28.83	24.63	23.95
3555	0.97	159.4	3098	1801	2083	2214	262.5	10.9	524	3567	0.00	2.67	4.95	0.582	8452	0.000	0.057	3098	3206	2134	2069	2199	0	0	0	0	0	0	28.83	24.64	24.07
3600	0.95	159.4	3098	3206	2069	2199	257.4	11.1	528	3610	0.00	2.40	0.00	0.000	1030	0.000	0.037	3098	1825	2133	2068	2199	0	0	0	0	0	0	28.83	24.77	28.83
3910	0.96	169.2	3098	1825	2067	2197	224.5	10.6	559	3931	0.00	2.65	9.30	0.702	8708	0.000	0.050	3098	390	2092	2030	2154	0	0	0	0	0	0	28.83	24.61	24.01
3956	0.96	169.2	3098	390	2030	2152	219.4	11.5	563	3963	0.00	2.47	0.00	0.000	1030	0.000	0.037	3098	1801	2091	2030	2152	0	0	0	0	0	0	28.83	24.77	28.83
4266	0.98	192.1	3098	1801	2030	2152	187.4	9.9	606	4292	0.00	2.60	19.45	0.773	8452	0.000	0.057	3098	3200	2000	1941	2060	0	0	0	0	0	0	28.83	24.50	23.91
4397	1.01	216.7	3098	3200	1940	2060	174.7	9.9	630	4423	0.00	2.45	21.35	0.758	9222	0.000	0.064	3098	1789	1900	1839	1962	0	0	0	0	0	0	28.83	24.82	23.89
4730	1.03	216.7	3098	1789	1831	1958	142.8	11.2	694	4737	0.00	2.47	0.00	0.000	516	0.000	0.076	3098	389	1894	1832	1957	0	0	0	0	0	0	28.83	24.81	28.83
4785	1.06	216.7	2112	389	1781	1946	136.1	12.2	704	4793	0.00	2.45	0.00	0.000	1030	0.000	0.063	3098	1801	1892	1831	1954	0	0	0	0	0	0	28.83	24.85	28.83
5102	1.16	288.0	3098	1801	1831	1955	108.4	7.5	765	5170	0.12	2.62	57.88	0.741	10500	0.063	0.053	3138	3201	1608	1545	1671	0	0	0	0	0	0	24.95	24.44	23.89
5235	1.17	293.4	2176	3199	1508	1663	95.4	10.8	788	5249	0.00	2.45	5.55	0.529	9222	0.000	0.063	3138	1792	1586	1521	1652	0	0	0	0	0	0	28.83	24.75	24.09
5558	1.24	332.1	3138	1793	1518	1650	63.3	9.1	850	5596	0.00	2.55	32.22	0.674	8708	0.000	0.044	3138	396	1429	1364	1495	0	0	0	0	0	0	28.83	24.49	23.95
5707	1.30	352.3	3138	395	1362	1490	48.8	10.1	877	5734	0.12	2.42	17.48	0.628	11270	0.058	0.030	3177	1813	1346	1280	1412	0	0	0	0	0	0	24.82	24.80	24.01
6044	1.30	352.3	3177	1813	1275	1410	4.0	14.5	941	6051	0.00	2.45	0.00	0.000	260	0.000	0.046	3178	3208	1342	1275	1410	0	0	0	0	0	0	28.83	24.82	28.83
6061	end climb: SURFACE_DEPTH_REACHED
state	6061	begin surface coast
6072	end surface coast: CONTROL_FINISHED_OK
state	6072	begin surface