Glider dive log

Taiwan Jan14 * SG017 * Dive index * Mission links * Dive 16 * 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 16 ESCAPE_HEADING 0 C_ROLL_DIVE 1920 ALTIM_TOP_MIN_OBSTACLE 0

N_DIVES 0 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 450 TGT_DEFAULT_LON 6 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 500 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 28 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 562.03961 R_STBD_OVSHOOT 58 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 120 CALL_TRIES 5 VBD_TIMEOUT 540 DEVICE4 -1

T_MISSION 160 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 -228970.62 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 450 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 120

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 -228970.62

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 160

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 1860 LOGGERDEVICE2 -1 ROLL_AD_RATE 320 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1920 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 58 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 16 NOCOMM_ACTION 163 SEABIRD_C_J 0.00021975346 W_ADJ_DBAND 0

D_ABORT 500 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 310114,093503,2109.634,11956.717,42,3.1,63,-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 0.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310114,094048,2109.628,11956.661,14,1.7,14,-2.5 MHEAD_RNG_PITCHd_Wd 130.1,4091,-19.0,-12.500,-21.90,1796

SPEED_LIMITS 0.217,0.311 D_GRID 3462

Post-dive calculations and measurements:

FINISH 0.3,1.023200 FG_AHR_24Vo 0.000

SM_CCo 8667,72.15,0.094,0,0,758,562.23 FG_AHR_10Vo 0.000

SM_GC 0.84,9.38,0.10,72.15,0.031,0.073,0.094,1047,1961,758,-8.37,-0.57,562.23,0,0,0,0,0,0,24.82,24.88,24.63 MEM 324248

IRIDIUM_FIX 2101.76,12000.75,310114,070732 DATA_FILE_SIZE 97049,1633

TT8_MAMPS 0.020972,0.020972 CAP_FILE_SIZE 196455,0

HUMID 50.82 CFSIZE 256368640,251027456

INTERNAL_PRESSURE 8.87729 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,398

TCM_TEMP 22.40 INTR 0,2359.14,0x23684e,0,24

XPDR_PINGS -1 CURRENT 0.187,239.0,1

_24V_AH 23.7,8.549 GPS 310114,120806,2108.396,11956.831,34,1.4,34,-2.5

_10V_AH 9.8,7.561

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 158 77.12 SBE_CT 757 23 417.02

Roll_motor 69 98 161.38 AA3830 971 33 760.04

VBD_pump_during_apogee 453 1002 10769.18 WL_BB2FLVMG 683 105 1700.19

VBD_pump_during_surface 72 94 160.90 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 241 129 740.66 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 34 5.30

TT8 3557 12 443.42

LPSleep 1417 2 30.42

TT8_Active 584 12 72.85

TT8_Sampling 3285 39 1277.62

TT8_CF8 233 50 114.99

TT8_Kalman 0 0 0.00

Analog_circuits 2083 12 244.98

GPS_charging 0 0 0.00

Compass 3029 5 148.43

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

15 -1.10 -146.0 1043 1956 688 810 0.0 0.0 0 105 0.00 0.00 -86.82 0.000 16386 0.000 0.000 1042 1957 3073 3062 3085 0 0 0 0 0 0 28.83 28.83 28.83

108 -1.10 -146.0 1042 1957 3062 3085 3.4 -5.7 14 135 8.75 2.58 -11.07 0.000 18948 0.158 0.045 2634 505 3648 3617 3680 0 0 0 0 0 0 24.65 24.78 25.06

183 -1.10 -146.0 1664 505 3610 3679 23.2 -17.6 27 190 0.00 2.35 0.00 0.000 1030 0.000 0.026 2634 1897 3649 3618 3681 0 0 0 0 0 0 28.83 24.84 28.83

493 -1.10 -146.0 1680 1895 3610 3681 76.5 -16.8 88 500 0.00 2.50 0.00 0.000 260 0.000 0.070 2634 3327 3651 3619 3683 0 0 0 0 0 0 28.83 24.85 28.83

549 -1.10 -146.0 1648 3325 3610 3680 84.4 -12.8 98 556 0.00 2.40 0.00 0.000 1030 0.000 0.054 2634 1902 3650 3618 3683 0 0 0 0 0 0 28.83 24.91 28.83

859 -1.10 -146.0 1664 1900 3610 3682 123.0 -11.3 159 865 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1902 3651 3618 3685 0 0 0 0 0 0 28.83 28.83 28.83

1169 -1.10 -146.0 2634 1902 3618 3686 159.3 -11.7 220 1176 0.00 2.40 0.00 0.000 516 0.000 0.067 2634 514 3652 3618 3686 0 0 0 0 0 0 28.83 24.92 28.83

1273 -1.10 -146.0 1680 514 3611 3684 170.7 -10.0 240 1280 0.00 2.35 0.00 0.000 1030 0.000 0.057 2634 1892 3653 3620 3686 0 0 0 0 0 0 28.83 24.96 28.83

1586 -1.10 -146.0 2634 1892 3619 3686 204.4 -10.1 301 1592 0.00 2.50 0.00 0.000 260 0.000 0.048 2634 3323 3652 3619 3686 0 0 0 0 0 0 28.83 24.93 28.83

1623 -1.10 -146.0 2634 3322 3619 3686 208.1 -9.9 308 1631 0.00 2.45 0.00 0.000 1030 0.000 0.056 2634 1873 3652 3619 3686 0 0 0 0 0 0 28.83 24.98 28.83

1934 -1.10 -146.0 2634 1873 3619 3685 233.5 -10.5 369 1940 0.00 2.35 0.00 0.000 516 0.000 0.041 2634 516 3652 3619 3685 0 0 0 0 0 0 28.83 24.96 28.83

1979 -1.10 -146.0 2634 516 3619 3685 238.6 -11.5 377 1985 0.00 2.35 0.00 0.000 1030 0.000 0.031 2634 1892 3651 3618 3685 0 0 0 0 0 0 28.83 24.99 28.83

2288 -1.10 -146.0 1680 1890 3610 3683 273.8 -8.8 438 2295 0.00 2.53 0.00 0.000 260 0.000 0.050 2634 3323 3651 3617 3685 0 0 0 0 0 0 28.83 24.96 28.83

2359 -1.10 -146.0 2634 3323 3617 3685 279.2 -7.1 451 2368 0.00 2.42 0.00 0.000 1030 0.000 0.029 2634 1888 3651 3617 3685 0 0 0 0 0 0 28.83 25.01 28.83

2671 -1.10 -146.0 1680 1886 3606 3683 296.5 -6.7 512 2678 0.00 2.55 0.00 0.000 260 0.000 0.074 2634 3323 3649 3614 3685 0 0 0 0 0 0 28.83 24.98 28.83

2725 -1.10 -146.0 1688 3322 3605 3683 300.6 -7.8 522 2733 0.00 2.40 0.00 0.000 1030 0.000 0.030 2634 1908 3649 3613 3685 0 0 0 0 0 0 28.83 25.03 28.83

3038 -1.10 -146.0 2634 1908 3611 3685 327.2 -10.0 583 3044 0.00 2.42 0.00 0.000 516 0.000 0.045 2634 514 3648 3611 3685 0 0 0 0 0 0 28.83 25.01 28.83

3091 -1.10 -146.0 2634 514 3610 3685 333.1 -10.4 593 3098 0.00 2.40 0.00 0.000 1030 0.000 0.034 2634 1904 3647 3610 3685 0 0 0 0 0 0 28.83 25.04 28.83

3401 -1.10 -146.0 2634 1904 3607 3685 363.6 -9.7 654 3408 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1904 3646 3607 3685 0 0 0 0 0 0 28.83 28.83 28.83

3726 -1.10 -146.0 1632 1902 3596 3681 394.0 -8.2 715 3732 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1904 3644 3604 3684 0 0 0 0 0 0 28.83 28.83 28.83

4056 -1.10 -146.0 2634 1904 3603 3681 417.2 -6.5 776 4063 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1904 3642 3603 3681 0 0 0 0 0 0 28.83 28.83 28.83

4387 -1.10 -146.0 2634 1904 3601 3678 439.3 -6.9 837 4393 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1904 3639 3601 3678 0 0 0 0 0 0 28.83 28.83 28.83

4538 end dive: TARGET_DEPTH_EXCEEDED

state 4538 begin apogee

4544 -0.25 0.0 2634 1845 3601 3678 450.2 -7.2 865 4670 0.88 0.00 115.20 1.003 10244 0.083 0.000 2821 1845 3050 2989 3111 0 0 0 0 0 0 25.05 28.83 23.68

4671 end apogee: CONTROL_FINISHED_OK

state 4671 begin climb

4673 1.10 146.0 2821 1845 2989 3111 455.4 0.0 883 4798 1.33 0.00 116.65 0.971 11270 0.049 0.000 3123 1845 2453 2390 2517 0 0 0 0 0 0 24.54 28.83 23.68

5120 1.14 191.7 3122 1845 2385 2514 428.9 9.9 961 5161 0.00 0.00 37.33 0.952 8198 0.000 0.000 3123 1845 2268 2208 2329 0 0 0 0 0 0 28.83 28.83 23.70

5480 1.15 205.0 2112 1843 2136 2315 386.5 11.7 1027 5494 0.00 0.00 11.85 0.853 8198 0.000 0.000 3123 1845 2214 2152 2277 0 0 0 0 0 0 28.83 28.83 23.82

5808 1.18 235.1 3122 1845 2148 2274 348.0 10.8 1089 5842 0.00 0.00 25.98 0.912 8454 0.000 0.000 3123 1845 2090 2031 2149 0 0 0 0 0 0 28.83 28.83 23.74

6147 1.19 245.2 3122 1844 2029 2145 308.5 11.9 1155 6164 0.00 2.53 9.02 0.792 8708 0.000 0.053 3123 482 2049 1993 2106 0 0 0 0 0 0 28.83 24.57 23.91

6246 1.19 245.2 2176 482 1937 2093 295.8 12.8 1174 6254 0.00 2.45 0.00 0.000 1030 0.000 0.038 3123 1869 2047 1993 2102 0 0 0 0 0 0 28.83 24.79 28.83

6560 1.21 260.8 3122 1870 1992 2102 259.6 11.6 1235 6584 0.00 2.65 14.18 0.834 8452 0.000 0.058 3123 3291 1987 1931 2043 0 0 0 0 0 0 28.83 24.50 23.85

6651 1.21 260.8 2176 3289 1878 2034 247.1 14.5 1252 6658 0.00 2.38 0.00 0.000 1030 0.000 0.066 3123 1934 1986 1930 2042 0 0 0 0 0 0 28.83 24.79 28.83

6961 1.22 272.1 3122 1934 1927 2040 207.5 11.8 1313 6980 0.10 2.47 10.70 0.763 10500 0.074 0.054 3150 3268 1940 1883 1997 0 0 0 0 0 0 24.93 24.57 23.94

6987 1.22 272.1 3150 3268 1883 1997 204.1 12.7 1317 6993 0.00 2.35 0.00 0.000 1030 0.000 0.036 3150 1928 1939 1883 1996 0 0 0 0 0 0 28.83 24.70 28.83

7301 1.22 272.1 3150 1928 1880 1995 158.2 12.7 1378 7309 0.00 2.58 0.00 0.000 516 0.000 0.073 3150 471 1937 1880 1994 0 0 0 0 0 0 28.83 24.84 28.83

7508 1.22 273.1 3151 471 1880 1990 132.2 12.4 1418 7516 0.00 2.50 0.00 0.000 1030 0.000 0.062 3150 1901 1935 1880 1990 0 0 0 0 0 0 28.83 24.88 28.83

7823 1.25 304.1 3150 1901 1879 1991 97.4 10.7 1479 7856 0.00 2.62 27.10 0.739 8708 0.000 0.043 3150 474 1809 1753 1866 0 0 0 0 0 0 28.83 24.49 23.88

7936 1.30 346.5 3150 474 1750 1861 85.4 10.1 1499 7980 0.00 2.45 35.50 0.726 9222 0.000 0.034 3150 1879 1637 1578 1696 0 0 0 0 0 0 28.83 24.78 23.86

8288 1.36 406.7 3150 1878 1571 1692 50.3 9.1 1566 8346 0.12 2.53 49.58 0.679 10500 0.067 0.054 3193 3263 1390 1330 1451 0 0 0 0 0 0 24.82 24.43 23.87

8379 1.36 406.7 3192 3263 1328 1447 38.9 13.7 1581 8386 0.00 2.38 0.00 0.000 1030 0.000 0.030 3193 1878 1387 1328 1447 0 0 0 0 0 0 28.83 24.69 28.83

8637 end climb: SURFACE_DEPTH_REACHED

state 8637 begin surface coast

8649 end surface coast: CONTROL_FINISHED_OK

state 8649 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	16	ESCAPE_HEADING	0	C_ROLL_DIVE	1920	ALTIM_TOP_MIN_OBSTACLE	0
N_DIVES	0	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	450	TGT_DEFAULT_LON	6	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	500	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	28	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	562.03961	R_STBD_OVSHOOT	58	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	120	CALL_TRIES	5	VBD_TIMEOUT	540	DEVICE4	-1
T_MISSION	160	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	-228970.62	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	310114,093503,2109.634,11956.717,42,3.1,63,-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	0.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310114,094048,2109.628,11956.661,14,1.7,14,-2.5	MHEAD_RNG_PITCHd_Wd	130.1,4091,-19.0,-12.500,-21.90,1796
SPEED_LIMITS	0.217,0.311	D_GRID	3462

FINISH	0.3,1.023200	FG_AHR_24Vo	0.000
SM_CCo	8667,72.15,0.094,0,0,758,562.23	FG_AHR_10Vo	0.000
SM_GC	0.84,9.38,0.10,72.15,0.031,0.073,0.094,1047,1961,758,-8.37,-0.57,562.23,0,0,0,0,0,0,24.82,24.88,24.63	MEM	324248
IRIDIUM_FIX	2101.76,12000.75,310114,070732	DATA_FILE_SIZE	97049,1633
TT8_MAMPS	0.020972,0.020972	CAP_FILE_SIZE	196455,0
HUMID	50.82	CFSIZE	256368640,251027456
INTERNAL_PRESSURE	8.87729	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,398
TCM_TEMP	22.40	INTR	0,2359.14,0x23684e,0,24
XPDR_PINGS	-1	CURRENT	0.187,239.0,1
_24V_AH	23.7,8.549	GPS	310114,120806,2108.396,11956.831,34,1.4,34,-2.5
_10V_AH	9.8,7.561

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	158	77.12	SBE_CT	757	23	417.02
Roll_motor	69	98	161.38	AA3830	971	33	760.04
VBD_pump_during_apogee	453	1002	10769.18	WL_BB2FLVMG	683	105	1700.19
VBD_pump_during_surface	72	94	160.90	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	241	129	740.66	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	34	5.30
TT8	3557	12	443.42
LPSleep	1417	2	30.42
TT8_Active	584	12	72.85
TT8_Sampling	3285	39	1277.62
TT8_CF8	233	50	114.99
TT8_Kalman	0	0	0.00
Analog_circuits	2083	12	244.98
GPS_charging	0	0	0.00
Compass	3029	5	148.43
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
15	-1.10	-146.0	1043	1956	688	810	0.0	0.0	0	105	0.00	0.00	-86.82	0.000	16386	0.000	0.000	1042	1957	3073	3062	3085	0	0	0	0	0	0	28.83	28.83	28.83
108	-1.10	-146.0	1042	1957	3062	3085	3.4	-5.7	14	135	8.75	2.58	-11.07	0.000	18948	0.158	0.045	2634	505	3648	3617	3680	0	0	0	0	0	0	24.65	24.78	25.06
183	-1.10	-146.0	1664	505	3610	3679	23.2	-17.6	27	190	0.00	2.35	0.00	0.000	1030	0.000	0.026	2634	1897	3649	3618	3681	0	0	0	0	0	0	28.83	24.84	28.83
493	-1.10	-146.0	1680	1895	3610	3681	76.5	-16.8	88	500	0.00	2.50	0.00	0.000	260	0.000	0.070	2634	3327	3651	3619	3683	0	0	0	0	0	0	28.83	24.85	28.83
549	-1.10	-146.0	1648	3325	3610	3680	84.4	-12.8	98	556	0.00	2.40	0.00	0.000	1030	0.000	0.054	2634	1902	3650	3618	3683	0	0	0	0	0	0	28.83	24.91	28.83
859	-1.10	-146.0	1664	1900	3610	3682	123.0	-11.3	159	865	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	1902	3651	3618	3685	0	0	0	0	0	0	28.83	28.83	28.83
1169	-1.10	-146.0	2634	1902	3618	3686	159.3	-11.7	220	1176	0.00	2.40	0.00	0.000	516	0.000	0.067	2634	514	3652	3618	3686	0	0	0	0	0	0	28.83	24.92	28.83
1273	-1.10	-146.0	1680	514	3611	3684	170.7	-10.0	240	1280	0.00	2.35	0.00	0.000	1030	0.000	0.057	2634	1892	3653	3620	3686	0	0	0	0	0	0	28.83	24.96	28.83
1586	-1.10	-146.0	2634	1892	3619	3686	204.4	-10.1	301	1592	0.00	2.50	0.00	0.000	260	0.000	0.048	2634	3323	3652	3619	3686	0	0	0	0	0	0	28.83	24.93	28.83
1623	-1.10	-146.0	2634	3322	3619	3686	208.1	-9.9	308	1631	0.00	2.45	0.00	0.000	1030	0.000	0.056	2634	1873	3652	3619	3686	0	0	0	0	0	0	28.83	24.98	28.83
1934	-1.10	-146.0	2634	1873	3619	3685	233.5	-10.5	369	1940	0.00	2.35	0.00	0.000	516	0.000	0.041	2634	516	3652	3619	3685	0	0	0	0	0	0	28.83	24.96	28.83
1979	-1.10	-146.0	2634	516	3619	3685	238.6	-11.5	377	1985	0.00	2.35	0.00	0.000	1030	0.000	0.031	2634	1892	3651	3618	3685	0	0	0	0	0	0	28.83	24.99	28.83
2288	-1.10	-146.0	1680	1890	3610	3683	273.8	-8.8	438	2295	0.00	2.53	0.00	0.000	260	0.000	0.050	2634	3323	3651	3617	3685	0	0	0	0	0	0	28.83	24.96	28.83
2359	-1.10	-146.0	2634	3323	3617	3685	279.2	-7.1	451	2368	0.00	2.42	0.00	0.000	1030	0.000	0.029	2634	1888	3651	3617	3685	0	0	0	0	0	0	28.83	25.01	28.83
2671	-1.10	-146.0	1680	1886	3606	3683	296.5	-6.7	512	2678	0.00	2.55	0.00	0.000	260	0.000	0.074	2634	3323	3649	3614	3685	0	0	0	0	0	0	28.83	24.98	28.83
2725	-1.10	-146.0	1688	3322	3605	3683	300.6	-7.8	522	2733	0.00	2.40	0.00	0.000	1030	0.000	0.030	2634	1908	3649	3613	3685	0	0	0	0	0	0	28.83	25.03	28.83
3038	-1.10	-146.0	2634	1908	3611	3685	327.2	-10.0	583	3044	0.00	2.42	0.00	0.000	516	0.000	0.045	2634	514	3648	3611	3685	0	0	0	0	0	0	28.83	25.01	28.83
3091	-1.10	-146.0	2634	514	3610	3685	333.1	-10.4	593	3098	0.00	2.40	0.00	0.000	1030	0.000	0.034	2634	1904	3647	3610	3685	0	0	0	0	0	0	28.83	25.04	28.83
3401	-1.10	-146.0	2634	1904	3607	3685	363.6	-9.7	654	3408	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	1904	3646	3607	3685	0	0	0	0	0	0	28.83	28.83	28.83
3726	-1.10	-146.0	1632	1902	3596	3681	394.0	-8.2	715	3732	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	1904	3644	3604	3684	0	0	0	0	0	0	28.83	28.83	28.83
4056	-1.10	-146.0	2634	1904	3603	3681	417.2	-6.5	776	4063	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	1904	3642	3603	3681	0	0	0	0	0	0	28.83	28.83	28.83
4387	-1.10	-146.0	2634	1904	3601	3678	439.3	-6.9	837	4393	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	1904	3639	3601	3678	0	0	0	0	0	0	28.83	28.83	28.83
4538	end dive: TARGET_DEPTH_EXCEEDED
state	4538	begin apogee
4544	-0.25	0.0	2634	1845	3601	3678	450.2	-7.2	865	4670	0.88	0.00	115.20	1.003	10244	0.083	0.000	2821	1845	3050	2989	3111	0	0	0	0	0	0	25.05	28.83	23.68
4671	end apogee: CONTROL_FINISHED_OK
state	4671	begin climb
4673	1.10	146.0	2821	1845	2989	3111	455.4	0.0	883	4798	1.33	0.00	116.65	0.971	11270	0.049	0.000	3123	1845	2453	2390	2517	0	0	0	0	0	0	24.54	28.83	23.68
5120	1.14	191.7	3122	1845	2385	2514	428.9	9.9	961	5161	0.00	0.00	37.33	0.952	8198	0.000	0.000	3123	1845	2268	2208	2329	0	0	0	0	0	0	28.83	28.83	23.70
5480	1.15	205.0	2112	1843	2136	2315	386.5	11.7	1027	5494	0.00	0.00	11.85	0.853	8198	0.000	0.000	3123	1845	2214	2152	2277	0	0	0	0	0	0	28.83	28.83	23.82
5808	1.18	235.1	3122	1845	2148	2274	348.0	10.8	1089	5842	0.00	0.00	25.98	0.912	8454	0.000	0.000	3123	1845	2090	2031	2149	0	0	0	0	0	0	28.83	28.83	23.74
6147	1.19	245.2	3122	1844	2029	2145	308.5	11.9	1155	6164	0.00	2.53	9.02	0.792	8708	0.000	0.053	3123	482	2049	1993	2106	0	0	0	0	0	0	28.83	24.57	23.91
6246	1.19	245.2	2176	482	1937	2093	295.8	12.8	1174	6254	0.00	2.45	0.00	0.000	1030	0.000	0.038	3123	1869	2047	1993	2102	0	0	0	0	0	0	28.83	24.79	28.83
6560	1.21	260.8	3122	1870	1992	2102	259.6	11.6	1235	6584	0.00	2.65	14.18	0.834	8452	0.000	0.058	3123	3291	1987	1931	2043	0	0	0	0	0	0	28.83	24.50	23.85
6651	1.21	260.8	2176	3289	1878	2034	247.1	14.5	1252	6658	0.00	2.38	0.00	0.000	1030	0.000	0.066	3123	1934	1986	1930	2042	0	0	0	0	0	0	28.83	24.79	28.83
6961	1.22	272.1	3122	1934	1927	2040	207.5	11.8	1313	6980	0.10	2.47	10.70	0.763	10500	0.074	0.054	3150	3268	1940	1883	1997	0	0	0	0	0	0	24.93	24.57	23.94
6987	1.22	272.1	3150	3268	1883	1997	204.1	12.7	1317	6993	0.00	2.35	0.00	0.000	1030	0.000	0.036	3150	1928	1939	1883	1996	0	0	0	0	0	0	28.83	24.70	28.83
7301	1.22	272.1	3150	1928	1880	1995	158.2	12.7	1378	7309	0.00	2.58	0.00	0.000	516	0.000	0.073	3150	471	1937	1880	1994	0	0	0	0	0	0	28.83	24.84	28.83
7508	1.22	273.1	3151	471	1880	1990	132.2	12.4	1418	7516	0.00	2.50	0.00	0.000	1030	0.000	0.062	3150	1901	1935	1880	1990	0	0	0	0	0	0	28.83	24.88	28.83
7823	1.25	304.1	3150	1901	1879	1991	97.4	10.7	1479	7856	0.00	2.62	27.10	0.739	8708	0.000	0.043	3150	474	1809	1753	1866	0	0	0	0	0	0	28.83	24.49	23.88
7936	1.30	346.5	3150	474	1750	1861	85.4	10.1	1499	7980	0.00	2.45	35.50	0.726	9222	0.000	0.034	3150	1879	1637	1578	1696	0	0	0	0	0	0	28.83	24.78	23.86
8288	1.36	406.7	3150	1878	1571	1692	50.3	9.1	1566	8346	0.12	2.53	49.58	0.679	10500	0.067	0.054	3193	3263	1390	1330	1451	0	0	0	0	0	0	24.82	24.43	23.87
8379	1.36	406.7	3192	3263	1328	1447	38.9	13.7	1581	8386	0.00	2.38	0.00	0.000	1030	0.000	0.030	3193	1878	1387	1328	1447	0	0	0	0	0	0	28.83	24.69	28.83
8637	end climb: SURFACE_DEPTH_REACHED
state	8637	begin surface coast
8649	end surface coast: CONTROL_FINISHED_OK
state	8649	begin surface