Glider dive log

Taiwan Jan14 * SG017 * Dive index * Mission links * Dive 35 * 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 35 ESCAPE_HEADING 0 C_ROLL_DIVE 1910 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1850 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 28 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 562.03961 R_STBD_OVSHOOT 44 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 2.5 INT_PRESSURE_YINT 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0.029999999 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 3050 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 -228995.12 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 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 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 -228995.12

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 0.029999999 T_WATCHDOG 10

C_PITCH 2880 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 2.5 UNCOM_BLEED 20

C_ROLL_CLIMB 1850 LOGGERDEVICE2 -1 ROLL_AD_RATE 320 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1910 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -7

C_VBD 3050 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 28 VBD_MAXERRORS 1

DEVICE3 38 MINV_24V 22 R_STBD_OVSHOOT 44 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 35 NOCOMM_ACTION 163 SEABIRD_C_J 0.00021975346 W_ADJ_DBAND 0

D_ABORT 350 N_DIVES 0 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 010214,213953,2122.056,12003.787,25,1.8,43,-2.5 TGT_NAME r4n

_CALLS 1 TGT_LATLONG 2133.400,12024.600

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010214,214449,2122.166,12003.775,12,1.6,12,-2.5 MHEAD_RNG_PITCHd_Wd 97.1,41467,-17.1,-11.111,-20.35,2019

SPEED_LIMITS 0.192,0.300 D_GRID 2807

Post-dive calculations and measurements:

FINISH 0.1,1.023101 _10V_AH 9.9,9.056

SM_CCo 6371,75.20,0.090,0,0,758,562.23 FG_AHR_24Vo 0.000

SM_GC 0.79,9.15,0.08,75.20,0.031,0.093,0.090,1038,1935,758,-8.38,-0.99,562.23,0,0,0,0,0,0,24.89,24.91,24.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2113.32,12001.06,010214,191920 MEM 324268

TT8_MAMPS 0.020972,0.020972 DATA_FILE_SIZE 56846,959

HUMID 49.52 CAP_FILE_SIZE 104412,0

INTERNAL_PRESSURE 8.88706 CFSIZE 256368640,250036224

TCM_TEMP 22.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,48

XPDR_PINGS -1 CURRENT 0.276, 29.4,1

_24V_AH 23.8,10.662 GPS 010214,233351,2122.856,12005.123,10,2.6,31,-2.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 159 76.78 SBE_CT 644 23 356.40

Roll_motor 78 94 175.52 AA3830 957 33 752.19

VBD_pump_during_apogee 440 851 8927.48 WL_BB2FLVMG 796 105 1990.79

VBD_pump_during_surface 75 89 160.19 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 206 128 632.48 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 34 4.85

TT8 2265 12 285.33

LPSleep 1792 2 38.85

TT8_Active 557 12 70.20

TT8_Sampling 1973 39 775.39

TT8_CF8 157 50 78.45

TT8_Kalman 0 0 0.00

Analog_circuits 1658 12 197.02

GPS_charging 0 0 0.00

Compass 1764 5 87.33

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 1043 1924 700 801 0.0 0.0 0 99 0.00 0.00 -80.53 0.000 16386 0.000 0.000 1043 1925 2864 2851 2878 0 0 0 0 0 0 28.83 28.83 28.83

102 -1.00 -146.0 1043 1926 2851 2879 3.0 -6.5 13 136 8.93 2.47 -16.70 0.000 18948 0.159 0.047 2654 496 3647 3607 3687 0 0 0 0 0 0 24.66 24.79 25.08

184 -1.00 -146.0 2653 496 3609 3687 18.5 -14.5 27 191 0.00 2.38 0.00 0.000 1030 0.000 0.027 2654 1899 3648 3609 3687 0 0 0 0 0 0 28.83 24.84 28.83

494 -1.00 -146.0 1696 1898 3601 3685 71.0 -15.8 88 501 0.00 2.47 0.00 0.000 260 0.000 0.070 2654 3318 3648 3609 3688 0 0 0 0 0 0 28.83 24.87 28.83

538 -1.00 -146.0 1696 3317 3602 3686 77.0 -12.2 96 545 0.00 2.38 0.00 0.000 1030 0.000 0.054 2654 1906 3648 3610 3687 0 0 0 0 0 0 28.83 24.91 28.83

849 -1.00 -146.0 2654 1906 3610 3688 109.2 -12.1 157 857 0.00 2.40 0.00 0.000 516 0.000 0.037 2653 504 3649 3611 3688 0 0 0 0 0 0 28.83 24.91 28.83

941 -1.00 -146.0 1664 504 3602 3685 119.2 -10.6 174 948 0.00 2.38 0.00 0.000 1030 0.000 0.057 2654 1900 3649 3611 3688 0 0 0 0 0 0 28.83 24.94 28.83

1251 -1.00 -146.0 1664 1898 3602 3686 160.3 -12.6 235 1258 0.00 2.45 0.00 0.000 260 0.000 0.046 2653 3312 3650 3611 3689 0 0 0 0 0 0 28.83 24.92 28.83

1311 -1.00 -146.0 2653 3312 3611 3689 167.3 -11.1 246 1318 0.00 2.38 0.00 0.000 1030 0.000 0.055 2654 1902 3650 3611 3689 0 0 0 0 0 0 28.83 24.97 28.83

1623 -1.00 -146.0 2653 1902 3611 3689 189.8 -5.6 307 1630 0.00 2.40 0.00 0.000 516 0.000 0.040 2654 505 3650 3611 3689 0 0 0 0 0 0 28.83 24.94 28.83

1693 -1.00 -146.0 2653 505 3612 3689 194.3 -6.6 320 1700 0.00 2.38 0.00 0.000 1030 0.000 0.059 2654 1895 3650 3612 3689 0 0 0 0 0 0 28.83 24.97 28.83

2008 -1.00 -146.0 2653 1895 3612 3689 218.9 -8.8 359 2016 0.00 2.45 0.00 0.000 260 0.000 0.048 2654 3310 3650 3612 3689 0 0 0 0 0 0 28.83 24.96 28.83

2030 -1.00 -146.0 2653 3310 3612 3689 220.8 -8.9 361 2040 0.00 2.40 0.00 0.000 1030 0.000 0.028 2654 1881 3650 3612 3689 0 0 0 0 0 0 28.83 25.01 28.83

2339 -1.00 -146.0 2653 1881 3611 3689 244.7 -7.0 392 2349 0.00 2.50 0.00 0.000 260 0.000 0.047 2654 3314 3650 3611 3689 0 0 0 0 0 0 28.83 24.92 28.83

2404 -1.00 -146.0 1744 3312 3603 3687 249.0 -6.9 398 2411 0.00 2.42 0.00 0.000 1030 0.000 0.057 2654 1881 3650 3611 3689 0 0 0 0 0 0 28.83 25.01 28.83

2712 -1.00 -146.0 2653 1881 3610 3689 266.2 -5.5 429 2722 0.00 2.50 0.00 0.000 260 0.000 0.048 2654 3309 3649 3610 3689 0 0 0 0 0 0 28.83 24.98 28.83

2775 -1.00 -146.0 2653 3309 3609 3689 270.4 -6.9 435 2784 0.00 2.35 0.00 0.000 1030 0.000 0.029 2654 1908 3649 3609 3689 0 0 0 0 0 0 28.83 25.03 28.83

3085 -1.00 -146.0 2653 1908 3606 3689 294.6 -8.2 466 3094 0.00 2.40 0.00 0.000 516 0.000 0.052 2654 511 3647 3606 3689 0 0 0 0 0 0 28.83 24.94 28.83

3147 -1.00 -146.0 2653 511 3605 3689 299.7 -8.0 472 3157 0.00 2.38 0.00 0.000 1030 0.000 0.034 2653 1895 3647 3605 3689 0 0 0 0 0 0 28.83 25.01 28.83

3165 end dive: TARGET_DEPTH_EXCEEDED

state 3165 begin apogee

3171 -0.25 0.0 2653 1829 3605 3689 301.2 -7.8 474 3291 0.80 0.00 114.28 0.851 10244 0.081 0.000 2823 1829 3050 2986 3114 0 0 0 0 0 0 24.95 28.83 23.82

3292 end apogee: CONTROL_FINISHED_OK

state 3292 begin climb

3295 1.00 146.0 2822 1829 2985 3114 305.9 0.0 486 3417 1.17 2.47 113.72 0.835 10756 0.044 0.046 3099 470 2454 2384 2524 0 0 0 0 0 0 24.56 24.53 23.82

3546 1.01 150.7 2176 470 2322 2515 295.7 10.9 509 3557 0.00 2.42 5.25 0.584 9222 0.000 0.037 3099 1853 2435 2362 2509 0 0 0 0 0 0 28.83 24.70 24.03

3866 1.06 204.1 3099 1853 2358 2508 262.5 8.4 541 3916 0.00 2.58 42.83 0.816 8708 0.000 0.047 3099 468 2216 2143 2289 0 0 0 0 0 0 28.83 24.44 23.84

3962 1.11 254.5 2192 468 2087 2277 254.8 8.5 550 4011 0.10 2.42 41.62 0.804 11270 0.087 0.067 3118 1843 2012 1944 2080 0 0 0 0 0 0 24.69 24.70 23.84

4310 1.14 282.1 3118 1843 1936 2077 224.5 9.7 585 4340 0.00 2.67 23.25 0.777 8452 0.000 0.060 3119 3254 1898 1827 1970 0 0 0 0 0 0 28.83 24.45 23.88

4426 1.14 282.1 2176 3253 1776 1961 210.7 12.9 596 4433 0.00 2.38 0.00 0.000 1030 0.000 0.065 3119 1886 1896 1823 1970 0 0 0 0 0 0 28.83 24.77 28.83

4733 1.14 282.1 2144 1885 1769 1959 165.5 13.8 650 4740 0.00 2.45 0.00 0.000 260 0.000 0.079 3119 3257 1893 1819 1967 0 0 0 0 0 0 28.83 24.80 28.83

4753 1.14 282.1 3119 3257 1820 1967 162.5 14.7 653 4761 0.00 2.40 0.00 0.000 1030 0.000 0.035 3119 1868 1893 1819 1967 0 0 0 0 0 0 28.83 24.84 28.83

5064 1.18 325.7 2128 1866 1767 1957 132.6 8.9 714 5108 0.00 2.58 35.45 0.754 8708 0.000 0.073 3119 437 1720 1647 1793 0 0 0 0 0 0 28.83 24.47 23.91

5212 1.21 354.4 3119 437 1645 1788 117.7 9.7 741 5245 0.12 2.50 24.30 0.716 11270 0.080 0.034 3143 1876 1604 1529 1679 0 0 0 0 0 0 24.77 24.79 23.93

5550 1.24 379.6 3143 1876 1523 1676 82.7 9.8 806 5576 0.00 0.00 21.52 0.682 8454 0.000 0.000 3143 1876 1501 1426 1577 0 0 0 0 0 0 28.83 28.83 23.98

5880 1.24 384.2 2176 1874 1391 1568 49.7 10.9 870 5893 0.00 2.58 4.80 0.485 8708 0.000 0.042 3144 447 1482 1406 1558 0 0 0 0 0 0 28.83 24.75 24.25

5942 1.24 384.2 3144 447 1406 1556 42.7 11.4 881 5949 0.00 2.45 0.00 0.000 1030 0.000 0.031 3144 1870 1481 1406 1556 0 0 0 0 0 0 28.83 24.84 28.83

6253 1.25 396.1 2176 1869 1378 1551 9.4 10.5 942 6273 0.00 2.47 11.07 0.568 8452 0.000 0.077 3144 3252 1435 1359 1511 0 0 0 0 0 0 28.83 24.65 24.20

6322 1.26 400.8 2144 3250 1331 1506 2.5 10.9 954 6330 0.00 2.38 2.45 0.094 9222 0.000 0.060 3144 1868 1416 1339 1494 0 0 0 0 0 0 28.83 24.84 24.75

6335 end climb: SURFACE_DEPTH_REACHED

state 6335 begin surface coast

6352 end surface coast: CONTROL_FINISHED_OK

state 6352 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	35	ESCAPE_HEADING	0	C_ROLL_DIVE	1910	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1850	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	28	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	562.03961	R_STBD_OVSHOOT	44	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	2.5	INT_PRESSURE_YINT	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0.029999999	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	3050	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	-228995.12	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	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	010214,213953,2122.056,12003.787,25,1.8,43,-2.5	TGT_NAME	r4n
_CALLS	1	TGT_LATLONG	2133.400,12024.600
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010214,214449,2122.166,12003.775,12,1.6,12,-2.5	MHEAD_RNG_PITCHd_Wd	97.1,41467,-17.1,-11.111,-20.35,2019
SPEED_LIMITS	0.192,0.300	D_GRID	2807

FINISH	0.1,1.023101	_10V_AH	9.9,9.056
SM_CCo	6371,75.20,0.090,0,0,758,562.23	FG_AHR_24Vo	0.000
SM_GC	0.79,9.15,0.08,75.20,0.031,0.093,0.090,1038,1935,758,-8.38,-0.99,562.23,0,0,0,0,0,0,24.89,24.91,24.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2113.32,12001.06,010214,191920	MEM	324268
TT8_MAMPS	0.020972,0.020972	DATA_FILE_SIZE	56846,959
HUMID	49.52	CAP_FILE_SIZE	104412,0
INTERNAL_PRESSURE	8.88706	CFSIZE	256368640,250036224
TCM_TEMP	22.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,48
XPDR_PINGS	-1	CURRENT	0.276, 29.4,1
_24V_AH	23.8,10.662	GPS	010214,233351,2122.856,12005.123,10,2.6,31,-2.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	159	76.78	SBE_CT	644	23	356.40
Roll_motor	78	94	175.52	AA3830	957	33	752.19
VBD_pump_during_apogee	440	851	8927.48	WL_BB2FLVMG	796	105	1990.79
VBD_pump_during_surface	75	89	160.19	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	206	128	632.48	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	34	4.85
TT8	2265	12	285.33
LPSleep	1792	2	38.85
TT8_Active	557	12	70.20
TT8_Sampling	1973	39	775.39
TT8_CF8	157	50	78.45
TT8_Kalman	0	0	0.00
Analog_circuits	1658	12	197.02
GPS_charging	0	0	0.00
Compass	1764	5	87.33
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	1043	1924	700	801	0.0	0.0	0	99	0.00	0.00	-80.53	0.000	16386	0.000	0.000	1043	1925	2864	2851	2878	0	0	0	0	0	0	28.83	28.83	28.83
102	-1.00	-146.0	1043	1926	2851	2879	3.0	-6.5	13	136	8.93	2.47	-16.70	0.000	18948	0.159	0.047	2654	496	3647	3607	3687	0	0	0	0	0	0	24.66	24.79	25.08
184	-1.00	-146.0	2653	496	3609	3687	18.5	-14.5	27	191	0.00	2.38	0.00	0.000	1030	0.000	0.027	2654	1899	3648	3609	3687	0	0	0	0	0	0	28.83	24.84	28.83
494	-1.00	-146.0	1696	1898	3601	3685	71.0	-15.8	88	501	0.00	2.47	0.00	0.000	260	0.000	0.070	2654	3318	3648	3609	3688	0	0	0	0	0	0	28.83	24.87	28.83
538	-1.00	-146.0	1696	3317	3602	3686	77.0	-12.2	96	545	0.00	2.38	0.00	0.000	1030	0.000	0.054	2654	1906	3648	3610	3687	0	0	0	0	0	0	28.83	24.91	28.83
849	-1.00	-146.0	2654	1906	3610	3688	109.2	-12.1	157	857	0.00	2.40	0.00	0.000	516	0.000	0.037	2653	504	3649	3611	3688	0	0	0	0	0	0	28.83	24.91	28.83
941	-1.00	-146.0	1664	504	3602	3685	119.2	-10.6	174	948	0.00	2.38	0.00	0.000	1030	0.000	0.057	2654	1900	3649	3611	3688	0	0	0	0	0	0	28.83	24.94	28.83
1251	-1.00	-146.0	1664	1898	3602	3686	160.3	-12.6	235	1258	0.00	2.45	0.00	0.000	260	0.000	0.046	2653	3312	3650	3611	3689	0	0	0	0	0	0	28.83	24.92	28.83
1311	-1.00	-146.0	2653	3312	3611	3689	167.3	-11.1	246	1318	0.00	2.38	0.00	0.000	1030	0.000	0.055	2654	1902	3650	3611	3689	0	0	0	0	0	0	28.83	24.97	28.83
1623	-1.00	-146.0	2653	1902	3611	3689	189.8	-5.6	307	1630	0.00	2.40	0.00	0.000	516	0.000	0.040	2654	505	3650	3611	3689	0	0	0	0	0	0	28.83	24.94	28.83
1693	-1.00	-146.0	2653	505	3612	3689	194.3	-6.6	320	1700	0.00	2.38	0.00	0.000	1030	0.000	0.059	2654	1895	3650	3612	3689	0	0	0	0	0	0	28.83	24.97	28.83
2008	-1.00	-146.0	2653	1895	3612	3689	218.9	-8.8	359	2016	0.00	2.45	0.00	0.000	260	0.000	0.048	2654	3310	3650	3612	3689	0	0	0	0	0	0	28.83	24.96	28.83
2030	-1.00	-146.0	2653	3310	3612	3689	220.8	-8.9	361	2040	0.00	2.40	0.00	0.000	1030	0.000	0.028	2654	1881	3650	3612	3689	0	0	0	0	0	0	28.83	25.01	28.83
2339	-1.00	-146.0	2653	1881	3611	3689	244.7	-7.0	392	2349	0.00	2.50	0.00	0.000	260	0.000	0.047	2654	3314	3650	3611	3689	0	0	0	0	0	0	28.83	24.92	28.83
2404	-1.00	-146.0	1744	3312	3603	3687	249.0	-6.9	398	2411	0.00	2.42	0.00	0.000	1030	0.000	0.057	2654	1881	3650	3611	3689	0	0	0	0	0	0	28.83	25.01	28.83
2712	-1.00	-146.0	2653	1881	3610	3689	266.2	-5.5	429	2722	0.00	2.50	0.00	0.000	260	0.000	0.048	2654	3309	3649	3610	3689	0	0	0	0	0	0	28.83	24.98	28.83
2775	-1.00	-146.0	2653	3309	3609	3689	270.4	-6.9	435	2784	0.00	2.35	0.00	0.000	1030	0.000	0.029	2654	1908	3649	3609	3689	0	0	0	0	0	0	28.83	25.03	28.83
3085	-1.00	-146.0	2653	1908	3606	3689	294.6	-8.2	466	3094	0.00	2.40	0.00	0.000	516	0.000	0.052	2654	511	3647	3606	3689	0	0	0	0	0	0	28.83	24.94	28.83
3147	-1.00	-146.0	2653	511	3605	3689	299.7	-8.0	472	3157	0.00	2.38	0.00	0.000	1030	0.000	0.034	2653	1895	3647	3605	3689	0	0	0	0	0	0	28.83	25.01	28.83
3165	end dive: TARGET_DEPTH_EXCEEDED
state	3165	begin apogee
3171	-0.25	0.0	2653	1829	3605	3689	301.2	-7.8	474	3291	0.80	0.00	114.28	0.851	10244	0.081	0.000	2823	1829	3050	2986	3114	0	0	0	0	0	0	24.95	28.83	23.82
3292	end apogee: CONTROL_FINISHED_OK
state	3292	begin climb
3295	1.00	146.0	2822	1829	2985	3114	305.9	0.0	486	3417	1.17	2.47	113.72	0.835	10756	0.044	0.046	3099	470	2454	2384	2524	0	0	0	0	0	0	24.56	24.53	23.82
3546	1.01	150.7	2176	470	2322	2515	295.7	10.9	509	3557	0.00	2.42	5.25	0.584	9222	0.000	0.037	3099	1853	2435	2362	2509	0	0	0	0	0	0	28.83	24.70	24.03
3866	1.06	204.1	3099	1853	2358	2508	262.5	8.4	541	3916	0.00	2.58	42.83	0.816	8708	0.000	0.047	3099	468	2216	2143	2289	0	0	0	0	0	0	28.83	24.44	23.84
3962	1.11	254.5	2192	468	2087	2277	254.8	8.5	550	4011	0.10	2.42	41.62	0.804	11270	0.087	0.067	3118	1843	2012	1944	2080	0	0	0	0	0	0	24.69	24.70	23.84
4310	1.14	282.1	3118	1843	1936	2077	224.5	9.7	585	4340	0.00	2.67	23.25	0.777	8452	0.000	0.060	3119	3254	1898	1827	1970	0	0	0	0	0	0	28.83	24.45	23.88
4426	1.14	282.1	2176	3253	1776	1961	210.7	12.9	596	4433	0.00	2.38	0.00	0.000	1030	0.000	0.065	3119	1886	1896	1823	1970	0	0	0	0	0	0	28.83	24.77	28.83
4733	1.14	282.1	2144	1885	1769	1959	165.5	13.8	650	4740	0.00	2.45	0.00	0.000	260	0.000	0.079	3119	3257	1893	1819	1967	0	0	0	0	0	0	28.83	24.80	28.83
4753	1.14	282.1	3119	3257	1820	1967	162.5	14.7	653	4761	0.00	2.40	0.00	0.000	1030	0.000	0.035	3119	1868	1893	1819	1967	0	0	0	0	0	0	28.83	24.84	28.83
5064	1.18	325.7	2128	1866	1767	1957	132.6	8.9	714	5108	0.00	2.58	35.45	0.754	8708	0.000	0.073	3119	437	1720	1647	1793	0	0	0	0	0	0	28.83	24.47	23.91
5212	1.21	354.4	3119	437	1645	1788	117.7	9.7	741	5245	0.12	2.50	24.30	0.716	11270	0.080	0.034	3143	1876	1604	1529	1679	0	0	0	0	0	0	24.77	24.79	23.93
5550	1.24	379.6	3143	1876	1523	1676	82.7	9.8	806	5576	0.00	0.00	21.52	0.682	8454	0.000	0.000	3143	1876	1501	1426	1577	0	0	0	0	0	0	28.83	28.83	23.98
5880	1.24	384.2	2176	1874	1391	1568	49.7	10.9	870	5893	0.00	2.58	4.80	0.485	8708	0.000	0.042	3144	447	1482	1406	1558	0	0	0	0	0	0	28.83	24.75	24.25
5942	1.24	384.2	3144	447	1406	1556	42.7	11.4	881	5949	0.00	2.45	0.00	0.000	1030	0.000	0.031	3144	1870	1481	1406	1556	0	0	0	0	0	0	28.83	24.84	28.83
6253	1.25	396.1	2176	1869	1378	1551	9.4	10.5	942	6273	0.00	2.47	11.07	0.568	8452	0.000	0.077	3144	3252	1435	1359	1511	0	0	0	0	0	0	28.83	24.65	24.20
6322	1.26	400.8	2144	3250	1331	1506	2.5	10.9	954	6330	0.00	2.38	2.45	0.094	9222	0.000	0.060	3144	1868	1416	1339	1494	0	0	0	0	0	0	28.83	24.84	24.75
6335	end climb: SURFACE_DEPTH_REACHED
state	6335	begin surface coast
6352	end surface coast: CONTROL_FINISHED_OK
state	6352	begin surface