Glider dive log

Monterey Mar10 * SG503 * Dive index * Mission links * Dive 201 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HEADING -1 ROLL_MIN 187 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 5 ESCAPE_HEADING 0 ROLL_MAX 3764 ALTIM_TOP_TURN_MARGIN 0

DIVE 201 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1800 ALTIM_PING_DEPTH 500

D_FLARE 3 TGT_DEFAULT_LAT 3647.3999 C_ROLL_CLIMB 1750 ALTIM_PING_DELTA 50

D_TGT 991 TGT_DEFAULT_LON -12151.5 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 2

D_NO_BLEED 200 SM_CC 250 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 4

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 41 XPDR_VALID 1

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 53 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 445 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3956 DEVICE1 2

T_DIVE 420 CALL_TRIES 5 C_VBD 2792 DEVICE2 101

T_MISSION 480 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 83

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.245296 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 360 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 12 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 -1

USE_BATHY -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -12066.546 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 1001 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 120 PITCH_MIN 203 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3889 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2700 FG_AHR_24V 0 SEABIRD_T_G 0.0043281103

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062152545

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_YINT -51.589809 SEABIRD_T_I 2.1491383e-05

MASS 52098 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_J 2.0368557e-06

NAV_MODE 0 PITCH_GAIN 37 AD7714Ch0Gain 128 SEABIRD_C_G -10.162479

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1594115

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I 4.3937558e-05

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00011023274

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 200 PHONE_SUPPLY 2 SM_CC 250

AH0_24V 150 D_OFFGRID 1001 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 50 D_TGT 991 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 500 ESCAPE_HEADING 0 PITCH_GAIN 37 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3889 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 203 TGT_DEFAULT_LAT 3647.3999

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -12151.5

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.00011732637 T_DIVE 420

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -51.589809 T_GPS 12

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -12066.546

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 480

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 503 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1750 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 1800 KERMIT 0 ROLL_MAX 3764 USE_ICE 0

C_VBD 2792 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 187 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52098 R_PORT_OVSHOOT 41 VBD_MAX 3956

DEVICE2 101 MAX_BUOY 120 R_STBD_OVSHOOT 53 VBD_MAXERRORS 1

DEVICE3 83 MINV_10V 8 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MISSION 5 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00011023274 VBD_TIMEOUT 360

DIVE 201 NAV_MODE 0 SEABIRD_T_G 0.0043281103 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.00062152545 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.1491383e-05 XPDR_VALID 1

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.0368557e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 164655,3646.883,-12213.078,36,1.5,36,14.8 TGT_NAME THREE

_CALLS 1 TGT_LATLONG 3650.000,-12215.000

_XMS_NAKs 7 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -74.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 165408,3646.855,-12213.018,11,1.0,11,14.8 MHEAD_RNG_PITCHd_Wd 318.4,6524,-15.7,-7.865

SPEED_LIMITS 0.136,0.217 D_GRID 577

Post-dive calculations and measurements:

FINISH 0.3,1.003701 _24V_AH 23.9,28.390

SM_CCo 12555,0.00,0.000,0,0,1679,273.01 _10V_AH 9.7,44.084

SM_GC 1.71,6.95,0.00,0.00,0.032,0.000,0.000,183,1755,1679,-7.77,-1.27,273.01 FG_AHR_24Vo 0.000

IRIDIUM_FIX 3632.29,-12209.72,230799,121257 FG_AHR_10Vo 0.000

TT8_MAMPS 0.052156 MEM 287108

HUMID 54.64 DATA_FILE_SIZE 104615,1501

INTERNAL_PRESSURE 9.35583 CAP_FILE_SIZE 141950,0

TCM_TEMP 16.00 CFSIZE 260165632,234455040

XPDR_PINGS 120 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 500.2,69.8 GPS 280410,202454,3648.476,-12214.178,23,1.7,40,14.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 213 91.68 SBE_CT 1040 24 596.77

Roll_motor 78 52 97.42 AA4330 3202 33 2525.96

VBD_pump_during_apogee 316 912 6911.30 WL_BBFL2VMT 2410 105 6049.32

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 58.08 nil 0 0 0.00

Iridium_during_connect 35 160 135.46 nil 0 0 0.00

Iridium_during_xfer 254 223 1358.87

Transponder_ping 30 420 306.16

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.70

TT8 0 19 0.00

LPSleep 8222 2 174.66

TT8_Active 386 19 74.17

TT8_Sampling 3808 39 1470.15

TT8_CF8 564 45 250.65

TT8_Kalman 0 0 0.00

Analog_circuits 1552 12 180.67

GPS_charging 0 0 0.00

Compass 3299 8 256.07

RAFOS 0 0 0.00

Transponder 5 30 1.63

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.57 -116.8 0.0 0.0 0 56 0.00 0.00 -43.05 0.000 2 0.000 0.000 156 1755 2642 0 0 0 0 0 0

58 -0.57 -116.8 3.1 -6.1 8 90 9.00 2.17 -14.95 0.000 4 0.214 0.052 2514 399 3271 0 0 0 0 0 0

154 -0.50 -116.8 17.2 -13.3 26 160 0.08 2.15 0.00 0.000 6 0.123 0.032 2535 1794 3272 0 0 0 0 0 0

480 -0.50 -116.8 57.6 -10.9 87 486 0.00 2.20 0.00 0.000 4 0.000 0.040 2534 405 3271 0 0 0 0 0 0

507 -0.50 -116.8 60.8 -11.7 92 513 0.00 2.12 0.00 0.000 6 0.000 0.025 2532 1802 3271 0 0 0 0 0 0

834 -0.50 -116.8 98.8 -11.2 153 840 0.00 2.17 0.00 0.000 4 0.000 0.043 2527 3200 3272 0 0 0 0 0 0

903 -0.57 -116.8 106.0 -10.1 166 910 0.00 2.15 0.00 0.000 6 0.000 0.025 2527 1800 3272 0 0 0 0 0 0

1230 -0.57 -116.8 139.1 -9.3 227 1236 0.00 2.20 0.00 0.000 4 0.000 0.039 2528 405 3272 0 0 0 0 0 0

1278 -0.57 -116.8 143.9 -10.5 236 1284 0.00 2.10 0.00 0.000 6 0.000 0.024 2520 1802 3273 0 0 0 0 0 0

1604 -0.57 -116.8 175.2 -9.0 297 1609 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 1802 3273 0 0 0 0 0 0

1932 -0.57 -116.8 208.9 -10.2 351 1935 0.00 2.17 0.00 0.000 4 0.000 0.038 2520 392 3273 0 0 0 0 0 0

1974 -0.57 -116.8 213.8 -11.7 355 1978 0.00 2.12 0.00 0.000 6 0.000 0.024 2510 1806 3273 0 0 0 0 0 0

2294 -0.57 -116.8 244.4 -8.7 386 2295 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 1807 3273 0 0 0 0 0 0

2605 -0.57 -116.8 271.0 -8.8 416 2606 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 1807 3273 0 0 0 0 0 0

2915 -0.57 -116.8 299.7 -9.6 446 2919 0.00 2.17 0.00 0.000 4 0.000 0.038 2511 408 3272 0 0 0 0 0 0

2963 -0.57 -116.8 304.7 -10.3 450 2970 0.00 2.08 0.00 0.000 6 0.000 0.024 2506 1798 3272 0 0 0 0 0 0

3279 -0.57 -116.8 336.2 -10.2 481 3279 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1798 3273 0 0 0 0 0 0

3590 -0.57 -116.8 368.5 -10.3 511 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1798 3272 0 0 0 0 0 0

3900 -0.57 -116.8 399.2 -9.1 541 3901 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1798 3272 0 0 0 0 0 0

4211 -0.57 -116.8 427.9 -9.1 571 4212 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1798 3271 0 0 0 0 0 0

4521 -0.57 -116.8 457.6 -9.5 601 4522 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1798 3270 0 0 0 0 0 0

4832 -0.57 -116.8 491.3 -11.8 631 4833 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1798 3270 0 0 0 0 0 0

5137 -0.57 -116.8 524.8 -10.5 650 5141 0.00 2.17 0.00 0.000 4 0.000 0.039 2506 402 3269 0 0 0 0 0 0

5189 -0.57 -116.8 530.4 -10.7 652 5194 0.00 2.10 0.00 0.000 6 0.000 0.023 2496 1801 3270 0 0 0 0 0 0

5506 -0.57 -116.8 558.4 -8.2 668 5510 0.00 2.12 0.00 0.000 4 0.000 0.031 2495 3188 3269 0 0 0 0 0 0

5530 end dive: BOTTOM_OBSTACLE_DETECTED

state 5530 begin apogee

5535 -0.14 0.0 560.4 7.6 669 5631 0.45 0.00 92.10 0.913 6 0.095 0.000 2657 1748 2792 0 0 0 0 0 0

5631 end apogee: CONTROL_FINISHED_OK

state 5632 begin climb

5633 0.57 116.8 562.7 0.0 674 5739 0.60 2.33 97.32 0.884 4 0.058 0.030 2887 3147 2315 0 0 0 0 0 0

5957 0.48 116.9 545.3 7.9 689 5962 0.12 2.22 0.00 0.000 6 0.116 0.027 2854 1749 2307 0 0 0 0 0 0

6274 0.56 182.1 526.8 4.9 705 6328 0.00 0.00 53.20 0.873 6 0.000 0.000 2854 1748 2049 0 0 0 0 0 0

6619 0.62 233.0 505.0 5.6 722 6666 0.12 2.28 42.12 0.858 4 0.083 0.041 2934 347 1840 0 0 0 0 0 0

6708 0.53 233.0 496.2 11.9 728 6712 0.17 2.17 0.00 0.000 6 0.107 0.024 2873 1746 1841 0 0 0 0 0 0

7029 0.53 233.0 470.8 8.0 759 7032 0.00 2.25 0.00 0.000 4 0.000 0.041 2883 332 1840 0 0 0 0 0 0

7050 0.53 233.0 469.1 8.5 761 7053 0.00 2.15 0.00 0.000 6 0.000 0.024 2883 1742 1840 0 0 0 0 0 0

7369 0.53 233.0 440.9 8.4 792 7370 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 1743 1840 0 0 0 0 0 0

7681 0.53 233.0 411.9 9.8 822 7684 0.00 2.17 0.00 0.000 4 0.000 0.029 2883 3154 1839 0 0 0 0 0 0

7713 0.53 233.0 408.7 10.4 825 7716 0.00 2.17 0.00 0.000 6 0.000 0.028 2893 1744 1838 0 0 0 0 0 0

8032 0.53 233.0 379.9 8.3 856 8037 0.00 2.17 0.00 0.000 4 0.000 0.028 2893 3148 1838 0 0 0 0 0 0

8065 0.53 233.0 377.0 9.0 859 8069 0.12 2.15 0.00 0.000 6 0.143 0.028 2866 1747 1838 0 0 0 0 0 0

8385 0.59 233.0 354.5 8.4 890 8386 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 1747 1837 0 0 0 0 0 0

8697 0.64 233.0 329.7 8.1 920 8698 0.12 0.00 0.00 0.000 6 0.084 0.000 2933 1746 1836 0 0 0 0 0 0

9006 0.57 233.0 293.5 12.1 950 9007 0.17 0.00 0.00 0.000 6 0.128 0.000 2878 1746 1836 0 0 0 0 0 0

9316 0.57 233.0 266.0 9.1 980 9317 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 1746 1836 0 0 0 0 0 0

9628 0.61 233.0 238.5 8.6 1010 9631 0.00 2.15 0.00 0.000 4 0.000 0.029 2878 3142 1836 0 0 0 0 0 0

9669 0.61 233.0 234.7 8.4 1014 9674 0.00 2.15 0.00 0.000 6 0.000 0.027 2887 1748 1836 0 0 0 0 0 0

9991 0.61 233.0 208.4 8.3 1045 9992 0.00 0.00 0.00 0.000 6 0.000 0.000 2887 1748 1835 0 0 0 0 0 0

10308 0.63 248.6 184.4 7.2 1094 10324 0.00 2.15 12.18 0.668 4 0.000 0.028 2887 3154 1780 0 0 0 0 0 0

10351 0.64 257.6 181.2 7.5 1102 10367 0.00 2.17 9.15 0.630 6 0.000 0.032 2897 1754 1741 0 0 0 0 0 0

10687 0.64 257.6 154.6 8.3 1165 10692 0.00 0.00 0.00 0.000 6 0.000 0.000 2898 1753 1742 0 0 0 0 0 0

11012 0.64 257.6 127.1 8.2 1226 11019 0.00 2.17 0.00 0.000 4 0.000 0.041 2898 3149 1742 0 0 0 0 0 0

11034 0.64 257.6 125.3 8.5 1230 11040 0.00 2.17 0.00 0.000 6 0.000 0.027 2908 1747 1742 0 0 0 0 0 0

11361 0.64 257.6 95.5 8.4 1291 11366 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 1747 1742 0 0 0 0 0 0

11686 0.64 257.6 68.5 8.4 1352 11692 0.00 2.17 0.00 0.000 4 0.000 0.029 2907 3155 1742 0 0 0 0 0 0

11718 0.64 257.6 65.6 8.4 1358 11724 0.00 2.17 0.00 0.000 6 0.000 0.038 2919 1755 1742 0 0 0 0 0 0

12044 0.64 257.6 34.9 8.5 1419 12051 0.00 2.20 0.00 0.000 4 0.000 0.041 2930 346 1742 0 0 0 0 0 0

12098 0.64 257.6 30.0 9.3 1429 12104 0.00 2.10 0.00 0.000 6 0.000 0.024 2930 1753 1742 0 0 0 0 0 0

12425 0.67 283.2 3.5 6.7 1490 12437 0.00 0.00 10.75 0.550 2 0.000 0.000 2930 1754 1677 0 0 0 0 0 0

12437 end climb: SURFACE_DEPTH_REACHED

state 12437 begin surface coast

12483 end surface coast: CONTROL_FINISHED_OK

state 12483 begin surface

ID	503	HEADING	-1	ROLL_MIN	187	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	5	ESCAPE_HEADING	0	ROLL_MAX	3764	ALTIM_TOP_TURN_MARGIN	0
DIVE	201	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1800	ALTIM_PING_DEPTH	500
D_FLARE	3	TGT_DEFAULT_LAT	3647.3999	C_ROLL_CLIMB	1750	ALTIM_PING_DELTA	50
D_TGT	991	TGT_DEFAULT_LON	-12151.5	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	2
D_NO_BLEED	200	SM_CC	250	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	4
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	41	XPDR_VALID	1
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	53	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	445	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3956	DEVICE1	2
T_DIVE	420	CALL_TRIES	5	C_VBD	2792	DEVICE2	101
T_MISSION	480	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	83
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.245296	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	360	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	12	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-12066.546	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	1001	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	120	PITCH_MIN	203	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3889	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2700	FG_AHR_24V	0	SEABIRD_T_G	0.0043281103
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062152545
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_YINT	-51.589809	SEABIRD_T_I	2.1491383e-05
MASS	52098	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_J	2.0368557e-06
NAV_MODE	0	PITCH_GAIN	37	AD7714Ch0Gain	128	SEABIRD_C_G	-10.162479
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1594115
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	4.3937558e-05
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00011023274
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0

GPS1	164655,3646.883,-12213.078,36,1.5,36,14.8	TGT_NAME	THREE
_CALLS	1	TGT_LATLONG	3650.000,-12215.000
_XMS_NAKs	7	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-74.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	165408,3646.855,-12213.018,11,1.0,11,14.8	MHEAD_RNG_PITCHd_Wd	318.4,6524,-15.7,-7.865
SPEED_LIMITS	0.136,0.217	D_GRID	577

FINISH	0.3,1.003701	_24V_AH	23.9,28.390
SM_CCo	12555,0.00,0.000,0,0,1679,273.01	_10V_AH	9.7,44.084
SM_GC	1.71,6.95,0.00,0.00,0.032,0.000,0.000,183,1755,1679,-7.77,-1.27,273.01	FG_AHR_24Vo	0.000
IRIDIUM_FIX	3632.29,-12209.72,230799,121257	FG_AHR_10Vo	0.000
TT8_MAMPS	0.052156	MEM	287108
HUMID	54.64	DATA_FILE_SIZE	104615,1501
INTERNAL_PRESSURE	9.35583	CAP_FILE_SIZE	141950,0
TCM_TEMP	16.00	CFSIZE	260165632,234455040
XPDR_PINGS	120	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	500.2,69.8	GPS	280410,202454,3648.476,-12214.178,23,1.7,40,14.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	213	91.68	SBE_CT	1040	24	596.77
Roll_motor	78	52	97.42	AA4330	3202	33	2525.96
VBD_pump_during_apogee	316	912	6911.30	WL_BBFL2VMT	2410	105	6049.32
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	58.08	nil	0	0	0.00
Iridium_during_connect	35	160	135.46	nil	0	0	0.00
Iridium_during_xfer	254	223	1358.87
Transponder_ping	30	420	306.16
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.70
TT8	0	19	0.00
LPSleep	8222	2	174.66
TT8_Active	386	19	74.17
TT8_Sampling	3808	39	1470.15
TT8_CF8	564	45	250.65
TT8_Kalman	0	0	0.00
Analog_circuits	1552	12	180.67
GPS_charging	0	0	0.00
Compass	3299	8	256.07
RAFOS	0	0	0.00
Transponder	5	30	1.63

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.57	-116.8	0.0	0.0	0	56	0.00	0.00	-43.05	0.000	2	0.000	0.000	156	1755	2642	0	0	0	0	0	0
58	-0.57	-116.8	3.1	-6.1	8	90	9.00	2.17	-14.95	0.000	4	0.214	0.052	2514	399	3271	0	0	0	0	0	0
154	-0.50	-116.8	17.2	-13.3	26	160	0.08	2.15	0.00	0.000	6	0.123	0.032	2535	1794	3272	0	0	0	0	0	0
480	-0.50	-116.8	57.6	-10.9	87	486	0.00	2.20	0.00	0.000	4	0.000	0.040	2534	405	3271	0	0	0	0	0	0
507	-0.50	-116.8	60.8	-11.7	92	513	0.00	2.12	0.00	0.000	6	0.000	0.025	2532	1802	3271	0	0	0	0	0	0
834	-0.50	-116.8	98.8	-11.2	153	840	0.00	2.17	0.00	0.000	4	0.000	0.043	2527	3200	3272	0	0	0	0	0	0
903	-0.57	-116.8	106.0	-10.1	166	910	0.00	2.15	0.00	0.000	6	0.000	0.025	2527	1800	3272	0	0	0	0	0	0
1230	-0.57	-116.8	139.1	-9.3	227	1236	0.00	2.20	0.00	0.000	4	0.000	0.039	2528	405	3272	0	0	0	0	0	0
1278	-0.57	-116.8	143.9	-10.5	236	1284	0.00	2.10	0.00	0.000	6	0.000	0.024	2520	1802	3273	0	0	0	0	0	0
1604	-0.57	-116.8	175.2	-9.0	297	1609	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	1802	3273	0	0	0	0	0	0
1932	-0.57	-116.8	208.9	-10.2	351	1935	0.00	2.17	0.00	0.000	4	0.000	0.038	2520	392	3273	0	0	0	0	0	0
1974	-0.57	-116.8	213.8	-11.7	355	1978	0.00	2.12	0.00	0.000	6	0.000	0.024	2510	1806	3273	0	0	0	0	0	0
2294	-0.57	-116.8	244.4	-8.7	386	2295	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	1807	3273	0	0	0	0	0	0
2605	-0.57	-116.8	271.0	-8.8	416	2606	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	1807	3273	0	0	0	0	0	0
2915	-0.57	-116.8	299.7	-9.6	446	2919	0.00	2.17	0.00	0.000	4	0.000	0.038	2511	408	3272	0	0	0	0	0	0
2963	-0.57	-116.8	304.7	-10.3	450	2970	0.00	2.08	0.00	0.000	6	0.000	0.024	2506	1798	3272	0	0	0	0	0	0
3279	-0.57	-116.8	336.2	-10.2	481	3279	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1798	3273	0	0	0	0	0	0
3590	-0.57	-116.8	368.5	-10.3	511	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1798	3272	0	0	0	0	0	0
3900	-0.57	-116.8	399.2	-9.1	541	3901	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1798	3272	0	0	0	0	0	0
4211	-0.57	-116.8	427.9	-9.1	571	4212	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1798	3271	0	0	0	0	0	0
4521	-0.57	-116.8	457.6	-9.5	601	4522	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1798	3270	0	0	0	0	0	0
4832	-0.57	-116.8	491.3	-11.8	631	4833	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1798	3270	0	0	0	0	0	0
5137	-0.57	-116.8	524.8	-10.5	650	5141	0.00	2.17	0.00	0.000	4	0.000	0.039	2506	402	3269	0	0	0	0	0	0
5189	-0.57	-116.8	530.4	-10.7	652	5194	0.00	2.10	0.00	0.000	6	0.000	0.023	2496	1801	3270	0	0	0	0	0	0
5506	-0.57	-116.8	558.4	-8.2	668	5510	0.00	2.12	0.00	0.000	4	0.000	0.031	2495	3188	3269	0	0	0	0	0	0
5530	end dive: BOTTOM_OBSTACLE_DETECTED
state	5530	begin apogee
5535	-0.14	0.0	560.4	7.6	669	5631	0.45	0.00	92.10	0.913	6	0.095	0.000	2657	1748	2792	0	0	0	0	0	0
5631	end apogee: CONTROL_FINISHED_OK
state	5632	begin climb
5633	0.57	116.8	562.7	0.0	674	5739	0.60	2.33	97.32	0.884	4	0.058	0.030	2887	3147	2315	0	0	0	0	0	0
5957	0.48	116.9	545.3	7.9	689	5962	0.12	2.22	0.00	0.000	6	0.116	0.027	2854	1749	2307	0	0	0	0	0	0
6274	0.56	182.1	526.8	4.9	705	6328	0.00	0.00	53.20	0.873	6	0.000	0.000	2854	1748	2049	0	0	0	0	0	0
6619	0.62	233.0	505.0	5.6	722	6666	0.12	2.28	42.12	0.858	4	0.083	0.041	2934	347	1840	0	0	0	0	0	0
6708	0.53	233.0	496.2	11.9	728	6712	0.17	2.17	0.00	0.000	6	0.107	0.024	2873	1746	1841	0	0	0	0	0	0
7029	0.53	233.0	470.8	8.0	759	7032	0.00	2.25	0.00	0.000	4	0.000	0.041	2883	332	1840	0	0	0	0	0	0
7050	0.53	233.0	469.1	8.5	761	7053	0.00	2.15	0.00	0.000	6	0.000	0.024	2883	1742	1840	0	0	0	0	0	0
7369	0.53	233.0	440.9	8.4	792	7370	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	1743	1840	0	0	0	0	0	0
7681	0.53	233.0	411.9	9.8	822	7684	0.00	2.17	0.00	0.000	4	0.000	0.029	2883	3154	1839	0	0	0	0	0	0
7713	0.53	233.0	408.7	10.4	825	7716	0.00	2.17	0.00	0.000	6	0.000	0.028	2893	1744	1838	0	0	0	0	0	0
8032	0.53	233.0	379.9	8.3	856	8037	0.00	2.17	0.00	0.000	4	0.000	0.028	2893	3148	1838	0	0	0	0	0	0
8065	0.53	233.0	377.0	9.0	859	8069	0.12	2.15	0.00	0.000	6	0.143	0.028	2866	1747	1838	0	0	0	0	0	0
8385	0.59	233.0	354.5	8.4	890	8386	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	1747	1837	0	0	0	0	0	0
8697	0.64	233.0	329.7	8.1	920	8698	0.12	0.00	0.00	0.000	6	0.084	0.000	2933	1746	1836	0	0	0	0	0	0
9006	0.57	233.0	293.5	12.1	950	9007	0.17	0.00	0.00	0.000	6	0.128	0.000	2878	1746	1836	0	0	0	0	0	0
9316	0.57	233.0	266.0	9.1	980	9317	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	1746	1836	0	0	0	0	0	0
9628	0.61	233.0	238.5	8.6	1010	9631	0.00	2.15	0.00	0.000	4	0.000	0.029	2878	3142	1836	0	0	0	0	0	0
9669	0.61	233.0	234.7	8.4	1014	9674	0.00	2.15	0.00	0.000	6	0.000	0.027	2887	1748	1836	0	0	0	0	0	0
9991	0.61	233.0	208.4	8.3	1045	9992	0.00	0.00	0.00	0.000	6	0.000	0.000	2887	1748	1835	0	0	0	0	0	0
10308	0.63	248.6	184.4	7.2	1094	10324	0.00	2.15	12.18	0.668	4	0.000	0.028	2887	3154	1780	0	0	0	0	0	0
10351	0.64	257.6	181.2	7.5	1102	10367	0.00	2.17	9.15	0.630	6	0.000	0.032	2897	1754	1741	0	0	0	0	0	0
10687	0.64	257.6	154.6	8.3	1165	10692	0.00	0.00	0.00	0.000	6	0.000	0.000	2898	1753	1742	0	0	0	0	0	0
11012	0.64	257.6	127.1	8.2	1226	11019	0.00	2.17	0.00	0.000	4	0.000	0.041	2898	3149	1742	0	0	0	0	0	0
11034	0.64	257.6	125.3	8.5	1230	11040	0.00	2.17	0.00	0.000	6	0.000	0.027	2908	1747	1742	0	0	0	0	0	0
11361	0.64	257.6	95.5	8.4	1291	11366	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	1747	1742	0	0	0	0	0	0
11686	0.64	257.6	68.5	8.4	1352	11692	0.00	2.17	0.00	0.000	4	0.000	0.029	2907	3155	1742	0	0	0	0	0	0
11718	0.64	257.6	65.6	8.4	1358	11724	0.00	2.17	0.00	0.000	6	0.000	0.038	2919	1755	1742	0	0	0	0	0	0
12044	0.64	257.6	34.9	8.5	1419	12051	0.00	2.20	0.00	0.000	4	0.000	0.041	2930	346	1742	0	0	0	0	0	0
12098	0.64	257.6	30.0	9.3	1429	12104	0.00	2.10	0.00	0.000	6	0.000	0.024	2930	1753	1742	0	0	0	0	0	0
12425	0.67	283.2	3.5	6.7	1490	12437	0.00	0.00	10.75	0.550	2	0.000	0.000	2930	1754	1677	0	0	0	0	0	0
12437	end climb: SURFACE_DEPTH_REACHED
state	12437	begin surface coast
12483	end surface coast: CONTROL_FINISHED_OK
state	12483	begin surface