Glider dive log

Taiwan Jan14 * SG017 * Dive index * Mission links * Dive 14 * 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 14 ESCAPE_HEADING 0 C_ROLL_DIVE 1900 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 20 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1860 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 63 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 562.03961 R_STBD_OVSHOOT 56 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 1.5 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 -228968.12 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 -228968.12

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 1.5 UNCOM_BLEED 20

C_ROLL_CLIMB 1860 LOGGERDEVICE2 -1 ROLL_AD_RATE 320 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1900 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 63 VBD_MAXERRORS 1

DEVICE3 38 MINV_24V 22 R_STBD_OVSHOOT 56 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 14 NOCOMM_ACTION 163 SEABIRD_C_J 0.00021975346 W_ADJ_DBAND 0

D_ABORT 350 N_DIVES 20 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 310114,051326,2111.127,11956.186,54,2.6,75,-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 0.70 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310114,051830,2111.072,11956.123,33,2.0,50,-2.5 MHEAD_RNG_PITCHd_Wd 117.7,6916,-17.1,-11.111,-20.35,2019

SPEED_LIMITS 0.192,0.300 D_GRID 3452

Post-dive calculations and measurements:

FINISH 0.2,1.023162 _10V_AH 9.9,7.359

SM_CCo 6352,59.53,0.088,0,0,758,562.23 FG_AHR_24Vo 0.000

SM_GC 0.71,9.20,0.12,59.53,0.027,0.062,0.088,1040,1930,758,-8.39,-0.79,562.23,0,0,0,0,0,0,24.83,24.88,24.68 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2104.07,11958.74,310114,030321 MEM 324308

TT8_MAMPS 0.020972,0.020972 DATA_FILE_SIZE 56982,948

HUMID 50.07 CAP_FILE_SIZE 94775,0

INTERNAL_PRESSURE 8.91636 CFSIZE 256368640,251318272

TCM_TEMP 23.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS -1 CURRENT 0.260,223.7,1

_24V_AH 23.8,8.302 GPS 310114,070800,2110.154,11956.159,91,1.5,92,-2.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 159 77.72 SBE_CT 636 23 351.98

Roll_motor 73 118 206.08 AA3830 944 33 741.87

VBD_pump_during_apogee 466 842 9347.91 WL_BB2FLVMG 781 105 1951.80

VBD_pump_during_surface 59 87 124.63 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 179 129 553.55 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 51 34 17.40

TT8 2226 12 280.35

LPSleep 1816 2 39.38

TT8_Active 598 12 75.37

TT8_Sampling 1934 39 760.13

TT8_CF8 149 50 74.02

TT8_Kalman 0 0 0.00

Analog_circuits 1633 12 194.07

GPS_charging 0 0 0.00

Compass 1707 5 84.53

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 1031 1865 686 812 0.0 0.0 0 105 0.00 0.00 -86.28 0.000 16386 0.000 0.000 1031 1864 3090 3075 3106 0 0 0 0 0 0 28.83 28.83 28.83

108 -1.00 -146.0 1031 1864 3075 3106 3.9 -8.2 14 135 8.98 2.38 -10.40 0.000 18948 0.160 0.048 2658 525 3648 3614 3683 0 0 0 0 0 0 24.70 24.82 25.10

163 -1.00 -146.0 1672 525 3607 3681 19.2 -17.1 23 169 0.00 2.28 0.00 0.000 1030 0.000 0.025 2658 1880 3649 3615 3683 0 0 0 0 0 0 28.83 24.87 28.83

472 -1.00 -146.0 1696 1878 3607 3682 66.2 -13.8 84 479 0.00 2.47 0.00 0.000 260 0.000 0.070 2658 3302 3649 3615 3684 0 0 0 0 0 0 28.83 24.89 28.83

508 -1.00 -146.0 2657 3302 3616 3684 70.7 -11.9 90 515 0.00 2.30 0.00 0.000 1030 0.000 0.054 2658 1934 3650 3616 3684 0 0 0 0 0 0 28.83 24.95 28.83

818 -1.00 -146.0 2657 1933 3616 3687 108.4 -12.3 151 825 0.00 2.45 0.00 0.000 516 0.000 0.037 2657 500 3651 3616 3686 0 0 0 0 0 0 28.83 24.94 28.83

858 -1.00 -146.0 1680 499 3608 3684 112.9 -10.8 158 865 0.00 2.40 0.00 0.000 1030 0.000 0.056 2657 1913 3651 3616 3687 0 0 0 0 0 0 28.83 24.96 28.83

1170 -1.00 -146.0 2657 1913 3617 3687 145.5 -9.3 219 1177 0.00 2.42 0.00 0.000 516 0.000 0.036 2658 501 3652 3617 3687 0 0 0 0 0 0 28.83 24.96 28.83

1259 -1.00 -146.0 1664 501 3609 3685 153.9 -9.2 236 1266 0.00 2.38 0.00 0.000 1030 0.000 0.057 2657 1893 3652 3618 3687 0 0 0 0 0 0 28.83 24.98 28.83

1571 -1.00 -146.0 2657 1894 3618 3687 184.9 -9.2 297 1578 0.00 2.40 0.00 0.000 516 0.000 0.037 2657 500 3652 3618 3686 0 0 0 0 0 0 28.83 24.96 28.83

1636 -1.00 -146.0 2657 499 3618 3687 189.9 -7.1 309 1644 0.00 2.33 0.00 0.000 1030 0.000 0.029 2657 1878 3652 3618 3687 0 0 0 0 0 0 28.83 24.99 28.83

1947 -1.00 -146.0 2657 1878 3618 3686 215.6 -8.2 352 1956 0.00 2.47 0.00 0.000 260 0.000 0.051 2658 3301 3652 3618 3687 0 0 0 0 0 0 28.83 24.93 28.83

2020 -1.00 -146.0 2657 3301 3616 3686 221.5 -8.1 359 2028 0.00 2.35 0.00 0.000 1030 0.000 0.027 2658 1888 3651 3617 3686 0 0 0 0 0 0 28.83 25.03 28.83

2330 -1.00 -146.0 2657 1888 3616 3686 244.5 -5.7 390 2339 0.00 2.38 0.00 0.000 516 0.000 0.049 2657 498 3650 3615 3686 0 0 0 0 0 0 28.83 24.95 28.83

2374 -1.00 -146.0 2657 498 3615 3686 246.9 -5.7 394 2381 0.00 2.35 0.00 0.000 1030 0.000 0.060 2657 1881 3650 3615 3686 0 0 0 0 0 0 28.83 25.03 28.83

2684 -1.00 -146.0 2657 1880 3613 3686 266.6 -7.1 425 2693 0.00 2.47 0.00 0.000 260 0.000 0.050 2657 3297 3649 3612 3686 0 0 0 0 0 0 28.83 25.00 28.83

2726 -1.00 -146.0 2657 3297 3612 3686 270.2 -8.4 429 2736 0.00 2.38 0.00 0.000 1030 0.000 0.028 2658 1882 3649 3612 3687 0 0 0 0 0 0 28.83 25.05 28.83

3036 -1.00 -146.0 2657 1882 3610 3686 296.2 -7.4 460 3045 0.00 2.40 0.00 0.000 516 0.000 0.044 2657 495 3648 3610 3686 0 0 0 0 0 0 28.83 25.01 28.83

3068 -1.00 -146.0 2657 495 3610 3687 298.5 -7.4 463 3077 0.00 2.35 0.00 0.000 1030 0.000 0.034 2658 1872 3648 3610 3686 0 0 0 0 0 0 28.83 25.04 28.83

3086 end dive: TARGET_DEPTH_EXCEEDED

state 3086 begin apogee

3091 -0.25 0.0 2657 1872 3610 3687 300.0 -7.4 465 3210 0.77 0.00 113.88 0.842 10244 0.078 0.000 2825 1872 3050 2984 3116 0 0 0 0 0 0 24.99 28.83 23.82

3213 end apogee: CONTROL_FINISHED_OK

state 3213 begin climb

3215 1.00 146.0 2825 1872 2984 3116 305.2 0.0 477 3339 1.23 2.55 112.95 0.825 10756 0.045 0.044 3097 448 2454 2385 2524 0 0 0 0 0 0 24.56 24.54 23.82

3567 1.06 208.3 3097 447 2380 2522 292.5 7.9 512 3624 0.00 2.47 49.78 0.812 9222 0.000 0.064 3097 1859 2200 2127 2274 0 0 0 0 0 0 28.83 24.75 23.83

3924 1.07 218.7 3097 1859 2121 2270 257.3 10.6 548 3943 0.00 2.55 9.30 0.705 8708 0.000 0.047 3097 453 2156 2082 2231 0 0 0 0 0 0 28.83 24.59 24.00

4159 1.08 221.2 3097 453 2082 2227 230.5 11.0 571 4167 0.00 2.45 0.00 0.000 1030 0.000 0.037 3097 1857 2154 2082 2227 0 0 0 0 0 0 28.83 24.83 28.83

4468 1.14 283.3 3097 1857 2081 2228 206.7 7.9 602 4528 0.12 2.53 52.38 0.804 10756 0.075 0.046 3128 459 1893 1824 1963 0 0 0 0 0 0 24.91 24.46 23.85

4579 1.14 283.3 3128 459 1822 1958 194.6 13.2 616 4586 0.00 2.47 0.00 0.000 1030 0.000 0.066 3128 1854 1890 1822 1958 0 0 0 0 0 0 28.83 24.71 28.83

4893 1.15 291.1 3128 1854 1817 1958 158.0 10.7 677 4907 0.00 2.50 6.85 0.629 8708 0.000 0.052 3128 457 1862 1790 1934 0 0 0 0 0 0 28.83 24.68 24.08

4951 1.15 291.1 3128 457 1789 1931 151.7 11.5 687 4958 0.00 2.40 0.00 0.000 1030 0.000 0.037 3128 1825 1860 1790 1931 0 0 0 0 0 0 28.83 24.80 28.83

5265 1.17 312.8 3128 1825 1789 1932 117.4 10.0 748 5292 0.00 2.45 19.12 0.712 8708 0.000 0.044 3128 457 1772 1700 1845 0 0 0 0 0 0 28.83 24.55 23.98

5362 1.18 324.7 3128 456 1699 1841 107.2 10.5 765 5382 0.00 2.35 10.85 0.648 9222 0.000 0.034 3128 1811 1725 1652 1798 0 0 0 0 0 0 28.83 24.81 24.06

5690 1.23 371.3 3128 1810 1648 1797 76.6 8.7 828 5736 0.00 2.72 38.85 0.689 8452 0.000 0.052 3128 3262 1536 1462 1611 0 0 0 0 0 0 28.83 24.48 23.95

5862 1.26 401.6 3128 3263 1458 1607 59.5 9.6 859 5895 0.12 2.45 25.42 0.647 11270 0.060 0.031 3168 1837 1412 1336 1488 0 0 0 0 0 0 24.83 24.82 23.99

6203 1.29 433.7 3168 1837 1331 1485 17.2 9.5 924 6235 0.00 0.00 26.95 0.610 8198 0.000 0.000 3168 1837 1280 1203 1357 0 0 0 0 0 0 28.83 28.83 24.03

6320 end climb: SURFACE_DEPTH_REACHED

state 6321 begin surface coast

6333 end surface coast: CONTROL_FINISHED_OK

state 6333 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	14	ESCAPE_HEADING	0	C_ROLL_DIVE	1900	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	20	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1860	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	63	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	562.03961	R_STBD_OVSHOOT	56	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	1.5	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	-228968.12	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	310114,051326,2111.127,11956.186,54,2.6,75,-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	0.70	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310114,051830,2111.072,11956.123,33,2.0,50,-2.5	MHEAD_RNG_PITCHd_Wd	117.7,6916,-17.1,-11.111,-20.35,2019
SPEED_LIMITS	0.192,0.300	D_GRID	3452

FINISH	0.2,1.023162	_10V_AH	9.9,7.359
SM_CCo	6352,59.53,0.088,0,0,758,562.23	FG_AHR_24Vo	0.000
SM_GC	0.71,9.20,0.12,59.53,0.027,0.062,0.088,1040,1930,758,-8.39,-0.79,562.23,0,0,0,0,0,0,24.83,24.88,24.68	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2104.07,11958.74,310114,030321	MEM	324308
TT8_MAMPS	0.020972,0.020972	DATA_FILE_SIZE	56982,948
HUMID	50.07	CAP_FILE_SIZE	94775,0
INTERNAL_PRESSURE	8.91636	CFSIZE	256368640,251318272
TCM_TEMP	23.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	-1	CURRENT	0.260,223.7,1
_24V_AH	23.8,8.302	GPS	310114,070800,2110.154,11956.159,91,1.5,92,-2.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	159	77.72	SBE_CT	636	23	351.98
Roll_motor	73	118	206.08	AA3830	944	33	741.87
VBD_pump_during_apogee	466	842	9347.91	WL_BB2FLVMG	781	105	1951.80
VBD_pump_during_surface	59	87	124.63	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	179	129	553.55	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	51	34	17.40
TT8	2226	12	280.35
LPSleep	1816	2	39.38
TT8_Active	598	12	75.37
TT8_Sampling	1934	39	760.13
TT8_CF8	149	50	74.02
TT8_Kalman	0	0	0.00
Analog_circuits	1633	12	194.07
GPS_charging	0	0	0.00
Compass	1707	5	84.53
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	1031	1865	686	812	0.0	0.0	0	105	0.00	0.00	-86.28	0.000	16386	0.000	0.000	1031	1864	3090	3075	3106	0	0	0	0	0	0	28.83	28.83	28.83
108	-1.00	-146.0	1031	1864	3075	3106	3.9	-8.2	14	135	8.98	2.38	-10.40	0.000	18948	0.160	0.048	2658	525	3648	3614	3683	0	0	0	0	0	0	24.70	24.82	25.10
163	-1.00	-146.0	1672	525	3607	3681	19.2	-17.1	23	169	0.00	2.28	0.00	0.000	1030	0.000	0.025	2658	1880	3649	3615	3683	0	0	0	0	0	0	28.83	24.87	28.83
472	-1.00	-146.0	1696	1878	3607	3682	66.2	-13.8	84	479	0.00	2.47	0.00	0.000	260	0.000	0.070	2658	3302	3649	3615	3684	0	0	0	0	0	0	28.83	24.89	28.83
508	-1.00	-146.0	2657	3302	3616	3684	70.7	-11.9	90	515	0.00	2.30	0.00	0.000	1030	0.000	0.054	2658	1934	3650	3616	3684	0	0	0	0	0	0	28.83	24.95	28.83
818	-1.00	-146.0	2657	1933	3616	3687	108.4	-12.3	151	825	0.00	2.45	0.00	0.000	516	0.000	0.037	2657	500	3651	3616	3686	0	0	0	0	0	0	28.83	24.94	28.83
858	-1.00	-146.0	1680	499	3608	3684	112.9	-10.8	158	865	0.00	2.40	0.00	0.000	1030	0.000	0.056	2657	1913	3651	3616	3687	0	0	0	0	0	0	28.83	24.96	28.83
1170	-1.00	-146.0	2657	1913	3617	3687	145.5	-9.3	219	1177	0.00	2.42	0.00	0.000	516	0.000	0.036	2658	501	3652	3617	3687	0	0	0	0	0	0	28.83	24.96	28.83
1259	-1.00	-146.0	1664	501	3609	3685	153.9	-9.2	236	1266	0.00	2.38	0.00	0.000	1030	0.000	0.057	2657	1893	3652	3618	3687	0	0	0	0	0	0	28.83	24.98	28.83
1571	-1.00	-146.0	2657	1894	3618	3687	184.9	-9.2	297	1578	0.00	2.40	0.00	0.000	516	0.000	0.037	2657	500	3652	3618	3686	0	0	0	0	0	0	28.83	24.96	28.83
1636	-1.00	-146.0	2657	499	3618	3687	189.9	-7.1	309	1644	0.00	2.33	0.00	0.000	1030	0.000	0.029	2657	1878	3652	3618	3687	0	0	0	0	0	0	28.83	24.99	28.83
1947	-1.00	-146.0	2657	1878	3618	3686	215.6	-8.2	352	1956	0.00	2.47	0.00	0.000	260	0.000	0.051	2658	3301	3652	3618	3687	0	0	0	0	0	0	28.83	24.93	28.83
2020	-1.00	-146.0	2657	3301	3616	3686	221.5	-8.1	359	2028	0.00	2.35	0.00	0.000	1030	0.000	0.027	2658	1888	3651	3617	3686	0	0	0	0	0	0	28.83	25.03	28.83
2330	-1.00	-146.0	2657	1888	3616	3686	244.5	-5.7	390	2339	0.00	2.38	0.00	0.000	516	0.000	0.049	2657	498	3650	3615	3686	0	0	0	0	0	0	28.83	24.95	28.83
2374	-1.00	-146.0	2657	498	3615	3686	246.9	-5.7	394	2381	0.00	2.35	0.00	0.000	1030	0.000	0.060	2657	1881	3650	3615	3686	0	0	0	0	0	0	28.83	25.03	28.83
2684	-1.00	-146.0	2657	1880	3613	3686	266.6	-7.1	425	2693	0.00	2.47	0.00	0.000	260	0.000	0.050	2657	3297	3649	3612	3686	0	0	0	0	0	0	28.83	25.00	28.83
2726	-1.00	-146.0	2657	3297	3612	3686	270.2	-8.4	429	2736	0.00	2.38	0.00	0.000	1030	0.000	0.028	2658	1882	3649	3612	3687	0	0	0	0	0	0	28.83	25.05	28.83
3036	-1.00	-146.0	2657	1882	3610	3686	296.2	-7.4	460	3045	0.00	2.40	0.00	0.000	516	0.000	0.044	2657	495	3648	3610	3686	0	0	0	0	0	0	28.83	25.01	28.83
3068	-1.00	-146.0	2657	495	3610	3687	298.5	-7.4	463	3077	0.00	2.35	0.00	0.000	1030	0.000	0.034	2658	1872	3648	3610	3686	0	0	0	0	0	0	28.83	25.04	28.83
3086	end dive: TARGET_DEPTH_EXCEEDED
state	3086	begin apogee
3091	-0.25	0.0	2657	1872	3610	3687	300.0	-7.4	465	3210	0.77	0.00	113.88	0.842	10244	0.078	0.000	2825	1872	3050	2984	3116	0	0	0	0	0	0	24.99	28.83	23.82
3213	end apogee: CONTROL_FINISHED_OK
state	3213	begin climb
3215	1.00	146.0	2825	1872	2984	3116	305.2	0.0	477	3339	1.23	2.55	112.95	0.825	10756	0.045	0.044	3097	448	2454	2385	2524	0	0	0	0	0	0	24.56	24.54	23.82
3567	1.06	208.3	3097	447	2380	2522	292.5	7.9	512	3624	0.00	2.47	49.78	0.812	9222	0.000	0.064	3097	1859	2200	2127	2274	0	0	0	0	0	0	28.83	24.75	23.83
3924	1.07	218.7	3097	1859	2121	2270	257.3	10.6	548	3943	0.00	2.55	9.30	0.705	8708	0.000	0.047	3097	453	2156	2082	2231	0	0	0	0	0	0	28.83	24.59	24.00
4159	1.08	221.2	3097	453	2082	2227	230.5	11.0	571	4167	0.00	2.45	0.00	0.000	1030	0.000	0.037	3097	1857	2154	2082	2227	0	0	0	0	0	0	28.83	24.83	28.83
4468	1.14	283.3	3097	1857	2081	2228	206.7	7.9	602	4528	0.12	2.53	52.38	0.804	10756	0.075	0.046	3128	459	1893	1824	1963	0	0	0	0	0	0	24.91	24.46	23.85
4579	1.14	283.3	3128	459	1822	1958	194.6	13.2	616	4586	0.00	2.47	0.00	0.000	1030	0.000	0.066	3128	1854	1890	1822	1958	0	0	0	0	0	0	28.83	24.71	28.83
4893	1.15	291.1	3128	1854	1817	1958	158.0	10.7	677	4907	0.00	2.50	6.85	0.629	8708	0.000	0.052	3128	457	1862	1790	1934	0	0	0	0	0	0	28.83	24.68	24.08
4951	1.15	291.1	3128	457	1789	1931	151.7	11.5	687	4958	0.00	2.40	0.00	0.000	1030	0.000	0.037	3128	1825	1860	1790	1931	0	0	0	0	0	0	28.83	24.80	28.83
5265	1.17	312.8	3128	1825	1789	1932	117.4	10.0	748	5292	0.00	2.45	19.12	0.712	8708	0.000	0.044	3128	457	1772	1700	1845	0	0	0	0	0	0	28.83	24.55	23.98
5362	1.18	324.7	3128	456	1699	1841	107.2	10.5	765	5382	0.00	2.35	10.85	0.648	9222	0.000	0.034	3128	1811	1725	1652	1798	0	0	0	0	0	0	28.83	24.81	24.06
5690	1.23	371.3	3128	1810	1648	1797	76.6	8.7	828	5736	0.00	2.72	38.85	0.689	8452	0.000	0.052	3128	3262	1536	1462	1611	0	0	0	0	0	0	28.83	24.48	23.95
5862	1.26	401.6	3128	3263	1458	1607	59.5	9.6	859	5895	0.12	2.45	25.42	0.647	11270	0.060	0.031	3168	1837	1412	1336	1488	0	0	0	0	0	0	24.83	24.82	23.99
6203	1.29	433.7	3168	1837	1331	1485	17.2	9.5	924	6235	0.00	0.00	26.95	0.610	8198	0.000	0.000	3168	1837	1280	1203	1357	0	0	0	0	0	0	28.83	28.83	24.03
6320	end climb: SURFACE_DEPTH_REACHED
state	6321	begin surface coast
6333	end surface coast: CONTROL_FINISHED_OK
state	6333	begin surface