Glider dive log

RapidMocha 18May10 * SG033 * Dive index * Mission links * Dive 33 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING -1 ROLL_MAX 3837 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 17 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 100

DIVE 33 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1900 ALTIM_PING_DELTA 20

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1650 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 18.5 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1440 TGT_DEFAULT_LON -125 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 5800 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 0

D_NO_BLEED 200 SM_CC 450 R_PORT_OVSHOOT 25 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 62 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 1

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 163 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3981 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2074 DEVICE3 101

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 480 CALL_WAIT 60 VBD_CNV -0.29522699 DEVICE5 -1

T_MISSION 510 CAPUPLOAD 0 VBD_TIMEOUT 950 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 600 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 2 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 -1

T_NO_W 300 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -220646.16 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 CF8_MAXERRORS 2 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 151 PHONE_DEVICE 48

D_OFFGRID 5761 RAFOS_PEAK_OFFSET 1.5 AH0_10V 122.2 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 27 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 2563 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1550 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043575475

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PRESSURE_YINT -20.171059 SEABIRD_T_H 0.00062940316

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.00093601202 SEABIRD_T_I 2.4306677e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 32 SEABIRD_T_J 2.6223986e-06

MASS 52000 PITCH_GAIN 12 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.332057

NAV_MODE 1 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.2094743

FERRY_MAX 2 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0016192879

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021825745

HD_A 0.0038945 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099684997 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 2.5700001e-06 ROLL_MIN 60 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 450

AH0_10V 122.2 D_OFFGRID 5761 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 151 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 4 PITCH_AD_RATE 160 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1440 PITCH_CNV 0.0046000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 12 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 2 PITCH_MAX 2563 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 18.5

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 27 TGT_DEFAULT_LON -125

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 PITCH_TIMEOUT 20 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PRESSURE_SLOPE 0.00093601202 T_DIVE 480

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -20.171059 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -220646.16

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 510

CF8_MAXERRORS 2 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 2

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 600

COMPASS_DEVICE 33 ID 33 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_PITCH 1550 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1650 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 1900 LOGGERDEVICE1 -1 ROLL_MAX 3837 USE_ICE 0

C_VBD 2074 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 1 LOGGERDEVICE3 -1 ROLL_MIN 60 VBD_CNV -0.29522699

DEEPGLIDERMB 1 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 25 VBD_MAX 3981

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 62 VBD_MAXERRORS 1

DEVICE3 101 MAX_BUOY 200 SEABIRD_C_G -10.332057 VBD_MIN 163

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.2094743 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0016192879 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE6 -1 MISSION 17 SEABIRD_C_J 0.00021825745 VBD_TIMEOUT 950

DIVE 33 MOTHERBOARD 4 SEABIRD_T_G 0.0043575475 XPDR_DEVICE 24

D_ABORT 5800 NAV_MODE 1 SEABIRD_T_H 0.00062940316 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.4306677e-05 XPDR_VALID 0

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.6223986e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 210510,152655,1834.952,-6557.850,39,1.4,39,-12.8 TGT_NAME SAN_JUAN_VM

_CALLS 1 TGT_LATLONG 1836.000,-6600.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.142,0.264

_SM_DEPTHo 0.36 KALMAN_X 6841.8,-515.5,-227.0,-4208.2,10364.7

_SM_ANGLEo -41.7 KALMAN_Y -15920.5,2339.0,452.3,22278.7,-24331.8

GPS2 210510,153156,1834.960,-6557.857,12,1.9,12,-12.8 MHEAD_RNG_PITCHd_Wd 344.5,4225,-15.6,-10.000

SPEED_LIMITS 0.100,0.300 D_GRID 1440

Post-dive calculations and measurements:

FINISH -0.3,0.997941 _24V_AH 24.0,5.261

SM_CCo 12041,0.00,0.000,0,0,160,565.36 _10V_AH 10.4,1.871

SM_GC 0.25,7.78,0.00,0.00,0.062,0.000,0.000,18,1918,160,-6.95,0.51,565.36 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1825.94,-6514.92,141111,060608 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972 MEM 328516

HUMID 1078239345 DATA_FILE_SIZE 30211,514

INTERNAL_PRESSURE 7.95929 CAP_FILE_SIZE 106204,0

TCM_TEMP 22.80 CFSIZE 260280320,253353984

XPDR_PINGS 8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,0,0

ALTIM_TOP_PING 18.2,17.7 GPS 210510,185459,1836.849,-6558.261,34,99.0,53,-12.8

ALTIM_BOTTOM_PING 982.1,47.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 196 81.80 SBE_CT 347 24 200.17

Roll_motor 103 136 337.92 nil 0 0 0.00

VBD_pump_during_apogee 552 1477 19601.65 AA4330 783 33 620.37

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 22 0 0.00 nil 0 0 0.00

Iridium_during_connect 28 0 0.00 nil 0 0 0.00

Iridium_during_xfer 159 0 0.00 nil 0 0 0.00

Transponder_ping 13 420 138.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 0 0.00

TT8 1041 19 214.56

LPSleep 8985 2 204.66

TT8_Active 637 19 131.18

TT8_Sampling 1607 39 665.20

TT8_CF8 76 45 36.64

TT8_Kalman 33 0 0.00

Analog_circuits 1402 12 175.02

GPS_charging 0 0 0.00

Compass 1262 15 196.97

RAFOS 0 0 0.00

Transponder 76 30 23.87

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -1.54 -195.5 0.0 0.0 0 139 0.00 0.00 -121.75 0.000 2 0.000 0.000 12 1922 2126 0 0 0 0 0 0

141 -1.54 -195.5 3.6 -4.9 12 175 6.18 2.20 -23.40 0.000 4 0.196 0.082 1206 3276 2737 0 0 0 0 0 0

417 -1.54 -195.5 48.6 -16.4 37 421 0.00 2.15 0.00 0.000 6 0.000 0.067 1206 1884 2738 0 0 0 0 0 0

746 -1.54 -195.5 98.7 -13.5 68 750 0.00 2.22 0.00 0.000 4 0.000 0.082 1206 3276 2738 0 0 0 0 0 0

824 -1.54 -195.5 108.6 -12.3 75 828 0.00 2.12 0.00 0.000 6 0.000 0.067 1206 1892 2738 0 0 0 0 0 0

1153 -1.54 -195.5 147.4 -11.5 106 1157 0.00 2.20 0.00 0.000 4 0.000 0.089 1206 498 2740 0 0 0 0 0 0

1253 -1.54 -195.5 158.4 -10.2 112 1258 0.00 2.12 0.00 0.000 6 0.000 0.062 1206 1888 2740 0 0 0 0 0 0

1574 -1.54 -195.5 192.9 -11.9 128 1578 0.00 2.20 0.00 0.000 4 0.000 0.084 1206 3283 2742 0 0 0 0 0 0

1731 -1.54 -195.5 211.5 -11.9 135 1735 0.00 2.15 0.00 0.000 6 0.000 0.079 1206 1896 2742 0 0 0 0 0 0

2057 -1.54 -195.5 251.3 -13.2 151 2060 0.00 2.22 0.00 0.000 4 0.000 0.087 1206 3276 2743 0 0 0 0 0 0

2170 -1.54 -195.5 266.3 -14.1 156 2174 0.00 2.15 0.00 0.000 6 0.000 0.077 1206 1902 2743 0 0 0 0 0 0

2496 -1.54 -195.5 311.2 -13.7 171 2497 0.00 0.00 0.00 0.000 6 0.000 0.000 1206 1902 2743 0 0 0 0 0 0

2800 -1.54 -195.5 352.7 -13.8 181 2804 0.00 2.22 0.00 0.000 4 0.000 0.089 1206 3273 2743 0 0 0 0 0 0

2838 -1.54 -195.5 358.0 -13.1 182 2843 0.00 2.20 0.00 0.000 6 0.000 0.077 1206 1906 2743 0 0 0 0 0 0

3174 -1.54 -195.5 405.3 -14.3 193 3175 0.00 0.00 0.00 0.000 6 0.000 0.000 1206 1906 2743 0 0 0 0 0 0

3479 -1.54 -195.5 450.3 -14.8 203 3483 0.00 2.22 0.00 0.000 4 0.000 0.094 1206 3274 2743 0 0 0 0 0 0

3551 -1.54 -195.5 461.2 -15.7 205 3556 0.00 2.22 0.00 0.000 6 0.000 0.079 1206 1903 2743 0 0 0 0 0 0

3885 -1.54 -195.5 514.3 -16.2 216 3889 0.00 2.25 0.00 0.000 4 0.000 0.097 1206 3279 2743 0 0 0 0 0 0

3924 -1.54 -195.5 520.5 -15.9 217 3928 0.00 2.22 0.00 0.000 6 0.000 0.084 1206 1888 2742 0 0 0 0 0 0

4252 -1.54 -195.5 578.4 -18.6 228 4253 0.00 0.00 0.00 0.000 6 0.000 0.000 1206 1887 2742 0 0 0 0 0 0

4559 -1.54 -195.5 633.7 -17.7 238 4563 0.00 2.30 0.00 0.000 4 0.000 0.104 1205 3277 2742 0 0 0 0 0 0

4597 -1.54 -195.5 640.7 -18.5 239 4601 0.00 2.20 0.00 0.000 6 0.000 0.092 1206 1905 2742 0 0 1 0 0 0

4926 -1.54 -195.5 700.4 -18.0 250 4930 0.00 2.30 0.00 0.000 4 0.000 0.107 1206 3277 2742 0 0 0 0 0 0

4986 -1.54 -195.5 711.5 -18.1 251 4993 0.00 2.28 0.00 0.000 6 0.000 0.094 1206 1905 2742 0 0 1 0 0 0

5299 -1.54 -195.5 766.3 -17.9 262 5303 0.00 2.38 0.00 0.000 4 0.000 0.117 1206 491 2742 0 0 0 0 0 0

5326 -1.54 -195.5 771.6 -19.8 263 5330 0.00 2.22 0.00 0.000 6 0.000 0.092 1206 1871 2742 0 0 1 0 0 0

5667 -1.54 -195.5 834.4 -18.6 274 5671 0.00 2.42 0.00 0.000 4 0.000 0.114 1206 3312 2741 0 0 0 0 0 0

5732 -1.54 -195.5 847.3 -19.2 276 5737 0.00 2.38 0.00 0.000 6 0.000 0.099 1206 1903 2741 0 0 1 0 0 0

6066 -1.54 -195.5 908.9 -18.2 287 6070 0.00 2.42 0.00 0.000 4 0.000 0.117 1206 3313 2741 0 0 0 0 0 0

6115 -1.54 -195.5 918.4 -19.2 288 6120 0.00 2.40 0.00 0.000 6 0.000 0.102 1206 1900 2739 0 0 1 0 0 0

6433 -1.54 -195.5 977.1 -17.9 299 6434 0.00 0.00 0.00 0.000 6 0.000 0.000 1206 1900 2739 0 0 0 0 0 0

6646 end dive: BOTTOM_OBSTACLE_DETECTED

state 6646 begin apogee

6650 -0.42 0.0 1014.0 17.4 305 6797 1.15 0.00 143.62 1.477 6 0.137 0.000 1458 1648 2073 0 0 0 0 0 0

6798 end apogee: CONTROL_FINISHED_OK

state 6798 begin climb

6799 1.54 195.5 1020.0 0.0 307 6955 1.88 2.70 145.05 1.440 4 0.102 0.129 1877 3045 1411 0 0 1 0 0 0

6970 2.03 595.8 1025.9 -3.7 309 7244 0.40 2.58 264.15 1.428 6 0.062 0.112 2002 1654 163 0 0 1 0 0 0

7559 2.03 595.8 939.7 20.2 324 7563 0.00 2.50 0.00 0.000 4 0.000 0.127 2002 3052 161 0 0 1 0 0 0

7781 2.03 595.8 897.4 18.7 330 7788 0.00 2.50 0.00 0.000 6 0.000 0.117 2002 1654 161 0 0 1 0 0 0

8094 2.03 595.8 840.1 18.3 341 8098 0.00 2.55 0.00 0.000 4 0.000 0.137 2002 239 160 0 0 0 0 0 0

8137 2.03 595.8 831.6 19.4 342 8142 0.00 2.42 0.00 0.000 6 0.000 0.107 2002 1644 160 0 0 1 0 0 0

8466 2.03 595.8 771.9 18.2 353 8470 0.00 2.50 0.00 0.000 4 0.000 0.134 2001 238 159 0 0 0 0 0 0

8509 2.03 595.8 763.3 20.1 354 8514 0.00 2.42 0.00 0.000 6 0.000 0.104 2002 1653 159 0 0 1 0 0 0

8833 2.03 595.8 703.1 19.0 365 8837 0.00 2.55 0.00 0.000 4 0.000 0.132 2001 232 158 0 0 0 0 0 0

8894 2.03 595.8 690.3 20.8 367 8898 0.00 2.38 0.00 0.000 6 0.000 0.104 2001 1653 158 0 0 1 0 0 0

9233 2.03 595.8 625.8 18.9 378 9235 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 1660 157 0 0 0 0 0 0

9540 2.03 595.8 563.4 20.6 388 9541 0.00 0.00 0.00 0.000 6 0.000 0.000 2002 1660 157 0 0 0 0 0 0

9846 2.03 595.8 499.0 20.9 398 9850 0.00 2.45 0.00 0.000 4 0.000 0.122 2002 236 157 0 0 0 0 0 0

9958 2.03 595.8 473.7 23.3 401 9962 0.00 2.33 0.00 0.000 6 0.000 0.094 2001 1653 157 0 0 1 0 0 0

10274 2.03 595.8 406.7 21.3 412 10278 0.00 2.45 0.00 0.000 4 0.000 0.117 2001 228 157 0 0 0 0 0 0

10313 2.03 595.8 397.6 24.5 413 10317 0.00 2.30 0.00 0.000 6 0.000 0.089 2001 1653 157 0 0 1 0 0 0

10636 2.03 595.8 325.9 22.1 424 10640 0.00 2.40 0.00 0.000 4 0.000 0.112 2001 232 157 0 0 0 0 0 0

10690 2.03 595.8 312.4 24.7 425 10697 0.00 2.30 0.00 0.000 6 0.000 0.082 2001 1655 157 0 0 1 0 0 0

11005 2.03 595.8 237.1 24.3 440 11006 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 1659 157 0 0 0 0 0 0

11314 2.03 595.8 158.2 26.3 455 11315 0.00 0.00 0.00 0.000 6 0.000 0.000 2002 1659 158 0 0 0 0 0 0

11632 2.03 595.8 77.3 24.0 483 11636 0.00 2.33 0.00 0.000 4 0.000 0.097 2001 225 159 0 0 0 0 0 0

11663 2.03 595.8 68.3 27.3 485 11670 0.00 2.25 0.00 0.000 6 0.000 0.067 2001 1660 159 0 0 0 0 0 0

11944 end climb: SURFACE_DEPTH_REACHED

state 11944 begin surface coast

11967 end surface coast: CONTROL_FINISHED_OK

state 11967 begin surface

ID	33	HEADING	-1	ROLL_MAX	3837	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	17	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	100
DIVE	33	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1900	ALTIM_PING_DELTA	20
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1650	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	18.5	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1440	TGT_DEFAULT_LON	-125	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	5800	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	0
D_NO_BLEED	200	SM_CC	450	R_PORT_OVSHOOT	25	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	62	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	1
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	163	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3981	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2074	DEVICE3	101
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	480	CALL_WAIT	60	VBD_CNV	-0.29522699	DEVICE5	-1
T_MISSION	510	CAPUPLOAD	0	VBD_TIMEOUT	950	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	600	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	2	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	-1
T_NO_W	300	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-220646.16	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	CF8_MAXERRORS	2	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	151	PHONE_DEVICE	48
D_OFFGRID	5761	RAFOS_PEAK_OFFSET	1.5	AH0_10V	122.2	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	27	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	2563	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1550	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043575475
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PRESSURE_YINT	-20.171059	SEABIRD_T_H	0.00062940316
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.00093601202	SEABIRD_T_I	2.4306677e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	32	SEABIRD_T_J	2.6223986e-06
MASS	52000	PITCH_GAIN	12	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.332057
NAV_MODE	1	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.2094743
FERRY_MAX	2	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0016192879
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021825745
HD_A	0.0038945	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099684997	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	2.5700001e-06	ROLL_MIN	60	ALTIM_TOP_TURN_MARGIN	0

GPS1	210510,152655,1834.952,-6557.850,39,1.4,39,-12.8	TGT_NAME	SAN_JUAN_VM
_CALLS	1	TGT_LATLONG	1836.000,-6600.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.142,0.264
_SM_DEPTHo	0.36	KALMAN_X	6841.8,-515.5,-227.0,-4208.2,10364.7
_SM_ANGLEo	-41.7	KALMAN_Y	-15920.5,2339.0,452.3,22278.7,-24331.8
GPS2	210510,153156,1834.960,-6557.857,12,1.9,12,-12.8	MHEAD_RNG_PITCHd_Wd	344.5,4225,-15.6,-10.000
SPEED_LIMITS	0.100,0.300	D_GRID	1440

FINISH	-0.3,0.997941	_24V_AH	24.0,5.261
SM_CCo	12041,0.00,0.000,0,0,160,565.36	_10V_AH	10.4,1.871
SM_GC	0.25,7.78,0.00,0.00,0.062,0.000,0.000,18,1918,160,-6.95,0.51,565.36	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1825.94,-6514.92,141111,060608	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972	MEM	328516
HUMID	1078239345	DATA_FILE_SIZE	30211,514
INTERNAL_PRESSURE	7.95929	CAP_FILE_SIZE	106204,0
TCM_TEMP	22.80	CFSIZE	260280320,253353984
XPDR_PINGS	8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
ALTIM_TOP_PING	18.2,17.7	GPS	210510,185459,1836.849,-6558.261,34,99.0,53,-12.8
ALTIM_BOTTOM_PING	982.1,47.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	196	81.80	SBE_CT	347	24	200.17
Roll_motor	103	136	337.92	nil	0	0	0.00
VBD_pump_during_apogee	552	1477	19601.65	AA4330	783	33	620.37
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	22	0	0.00	nil	0	0	0.00
Iridium_during_connect	28	0	0.00	nil	0	0	0.00
Iridium_during_xfer	159	0	0.00	nil	0	0	0.00
Transponder_ping	13	420	138.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	0	0.00
TT8	1041	19	214.56
LPSleep	8985	2	204.66
TT8_Active	637	19	131.18
TT8_Sampling	1607	39	665.20
TT8_CF8	76	45	36.64
TT8_Kalman	33	0	0.00
Analog_circuits	1402	12	175.02
GPS_charging	0	0	0.00
Compass	1262	15	196.97
RAFOS	0	0	0.00
Transponder	76	30	23.87

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-1.54	-195.5	0.0	0.0	0	139	0.00	0.00	-121.75	0.000	2	0.000	0.000	12	1922	2126	0	0	0	0	0	0
141	-1.54	-195.5	3.6	-4.9	12	175	6.18	2.20	-23.40	0.000	4	0.196	0.082	1206	3276	2737	0	0	0	0	0	0
417	-1.54	-195.5	48.6	-16.4	37	421	0.00	2.15	0.00	0.000	6	0.000	0.067	1206	1884	2738	0	0	0	0	0	0
746	-1.54	-195.5	98.7	-13.5	68	750	0.00	2.22	0.00	0.000	4	0.000	0.082	1206	3276	2738	0	0	0	0	0	0
824	-1.54	-195.5	108.6	-12.3	75	828	0.00	2.12	0.00	0.000	6	0.000	0.067	1206	1892	2738	0	0	0	0	0	0
1153	-1.54	-195.5	147.4	-11.5	106	1157	0.00	2.20	0.00	0.000	4	0.000	0.089	1206	498	2740	0	0	0	0	0	0
1253	-1.54	-195.5	158.4	-10.2	112	1258	0.00	2.12	0.00	0.000	6	0.000	0.062	1206	1888	2740	0	0	0	0	0	0
1574	-1.54	-195.5	192.9	-11.9	128	1578	0.00	2.20	0.00	0.000	4	0.000	0.084	1206	3283	2742	0	0	0	0	0	0
1731	-1.54	-195.5	211.5	-11.9	135	1735	0.00	2.15	0.00	0.000	6	0.000	0.079	1206	1896	2742	0	0	0	0	0	0
2057	-1.54	-195.5	251.3	-13.2	151	2060	0.00	2.22	0.00	0.000	4	0.000	0.087	1206	3276	2743	0	0	0	0	0	0
2170	-1.54	-195.5	266.3	-14.1	156	2174	0.00	2.15	0.00	0.000	6	0.000	0.077	1206	1902	2743	0	0	0	0	0	0
2496	-1.54	-195.5	311.2	-13.7	171	2497	0.00	0.00	0.00	0.000	6	0.000	0.000	1206	1902	2743	0	0	0	0	0	0
2800	-1.54	-195.5	352.7	-13.8	181	2804	0.00	2.22	0.00	0.000	4	0.000	0.089	1206	3273	2743	0	0	0	0	0	0
2838	-1.54	-195.5	358.0	-13.1	182	2843	0.00	2.20	0.00	0.000	6	0.000	0.077	1206	1906	2743	0	0	0	0	0	0
3174	-1.54	-195.5	405.3	-14.3	193	3175	0.00	0.00	0.00	0.000	6	0.000	0.000	1206	1906	2743	0	0	0	0	0	0
3479	-1.54	-195.5	450.3	-14.8	203	3483	0.00	2.22	0.00	0.000	4	0.000	0.094	1206	3274	2743	0	0	0	0	0	0
3551	-1.54	-195.5	461.2	-15.7	205	3556	0.00	2.22	0.00	0.000	6	0.000	0.079	1206	1903	2743	0	0	0	0	0	0
3885	-1.54	-195.5	514.3	-16.2	216	3889	0.00	2.25	0.00	0.000	4	0.000	0.097	1206	3279	2743	0	0	0	0	0	0
3924	-1.54	-195.5	520.5	-15.9	217	3928	0.00	2.22	0.00	0.000	6	0.000	0.084	1206	1888	2742	0	0	0	0	0	0
4252	-1.54	-195.5	578.4	-18.6	228	4253	0.00	0.00	0.00	0.000	6	0.000	0.000	1206	1887	2742	0	0	0	0	0	0
4559	-1.54	-195.5	633.7	-17.7	238	4563	0.00	2.30	0.00	0.000	4	0.000	0.104	1205	3277	2742	0	0	0	0	0	0
4597	-1.54	-195.5	640.7	-18.5	239	4601	0.00	2.20	0.00	0.000	6	0.000	0.092	1206	1905	2742	0	0	1	0	0	0
4926	-1.54	-195.5	700.4	-18.0	250	4930	0.00	2.30	0.00	0.000	4	0.000	0.107	1206	3277	2742	0	0	0	0	0	0
4986	-1.54	-195.5	711.5	-18.1	251	4993	0.00	2.28	0.00	0.000	6	0.000	0.094	1206	1905	2742	0	0	1	0	0	0
5299	-1.54	-195.5	766.3	-17.9	262	5303	0.00	2.38	0.00	0.000	4	0.000	0.117	1206	491	2742	0	0	0	0	0	0
5326	-1.54	-195.5	771.6	-19.8	263	5330	0.00	2.22	0.00	0.000	6	0.000	0.092	1206	1871	2742	0	0	1	0	0	0
5667	-1.54	-195.5	834.4	-18.6	274	5671	0.00	2.42	0.00	0.000	4	0.000	0.114	1206	3312	2741	0	0	0	0	0	0
5732	-1.54	-195.5	847.3	-19.2	276	5737	0.00	2.38	0.00	0.000	6	0.000	0.099	1206	1903	2741	0	0	1	0	0	0
6066	-1.54	-195.5	908.9	-18.2	287	6070	0.00	2.42	0.00	0.000	4	0.000	0.117	1206	3313	2741	0	0	0	0	0	0
6115	-1.54	-195.5	918.4	-19.2	288	6120	0.00	2.40	0.00	0.000	6	0.000	0.102	1206	1900	2739	0	0	1	0	0	0
6433	-1.54	-195.5	977.1	-17.9	299	6434	0.00	0.00	0.00	0.000	6	0.000	0.000	1206	1900	2739	0	0	0	0	0	0
6646	end dive: BOTTOM_OBSTACLE_DETECTED
state	6646	begin apogee
6650	-0.42	0.0	1014.0	17.4	305	6797	1.15	0.00	143.62	1.477	6	0.137	0.000	1458	1648	2073	0	0	0	0	0	0
6798	end apogee: CONTROL_FINISHED_OK
state	6798	begin climb
6799	1.54	195.5	1020.0	0.0	307	6955	1.88	2.70	145.05	1.440	4	0.102	0.129	1877	3045	1411	0	0	1	0	0	0
6970	2.03	595.8	1025.9	-3.7	309	7244	0.40	2.58	264.15	1.428	6	0.062	0.112	2002	1654	163	0	0	1	0	0	0
7559	2.03	595.8	939.7	20.2	324	7563	0.00	2.50	0.00	0.000	4	0.000	0.127	2002	3052	161	0	0	1	0	0	0
7781	2.03	595.8	897.4	18.7	330	7788	0.00	2.50	0.00	0.000	6	0.000	0.117	2002	1654	161	0	0	1	0	0	0
8094	2.03	595.8	840.1	18.3	341	8098	0.00	2.55	0.00	0.000	4	0.000	0.137	2002	239	160	0	0	0	0	0	0
8137	2.03	595.8	831.6	19.4	342	8142	0.00	2.42	0.00	0.000	6	0.000	0.107	2002	1644	160	0	0	1	0	0	0
8466	2.03	595.8	771.9	18.2	353	8470	0.00	2.50	0.00	0.000	4	0.000	0.134	2001	238	159	0	0	0	0	0	0
8509	2.03	595.8	763.3	20.1	354	8514	0.00	2.42	0.00	0.000	6	0.000	0.104	2002	1653	159	0	0	1	0	0	0
8833	2.03	595.8	703.1	19.0	365	8837	0.00	2.55	0.00	0.000	4	0.000	0.132	2001	232	158	0	0	0	0	0	0
8894	2.03	595.8	690.3	20.8	367	8898	0.00	2.38	0.00	0.000	6	0.000	0.104	2001	1653	158	0	0	1	0	0	0
9233	2.03	595.8	625.8	18.9	378	9235	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	1660	157	0	0	0	0	0	0
9540	2.03	595.8	563.4	20.6	388	9541	0.00	0.00	0.00	0.000	6	0.000	0.000	2002	1660	157	0	0	0	0	0	0
9846	2.03	595.8	499.0	20.9	398	9850	0.00	2.45	0.00	0.000	4	0.000	0.122	2002	236	157	0	0	0	0	0	0
9958	2.03	595.8	473.7	23.3	401	9962	0.00	2.33	0.00	0.000	6	0.000	0.094	2001	1653	157	0	0	1	0	0	0
10274	2.03	595.8	406.7	21.3	412	10278	0.00	2.45	0.00	0.000	4	0.000	0.117	2001	228	157	0	0	0	0	0	0
10313	2.03	595.8	397.6	24.5	413	10317	0.00	2.30	0.00	0.000	6	0.000	0.089	2001	1653	157	0	0	1	0	0	0
10636	2.03	595.8	325.9	22.1	424	10640	0.00	2.40	0.00	0.000	4	0.000	0.112	2001	232	157	0	0	0	0	0	0
10690	2.03	595.8	312.4	24.7	425	10697	0.00	2.30	0.00	0.000	6	0.000	0.082	2001	1655	157	0	0	1	0	0	0
11005	2.03	595.8	237.1	24.3	440	11006	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	1659	157	0	0	0	0	0	0
11314	2.03	595.8	158.2	26.3	455	11315	0.00	0.00	0.00	0.000	6	0.000	0.000	2002	1659	158	0	0	0	0	0	0
11632	2.03	595.8	77.3	24.0	483	11636	0.00	2.33	0.00	0.000	4	0.000	0.097	2001	225	159	0	0	0	0	0	0
11663	2.03	595.8	68.3	27.3	485	11670	0.00	2.25	0.00	0.000	6	0.000	0.067	2001	1660	159	0	0	0	0	0	0
11944	end climb: SURFACE_DEPTH_REACHED
state	11944	begin surface coast
11967	end surface coast: CONTROL_FINISHED_OK
state	11967	begin surface