Glider dive log

RapidMocha 18May10 * SG033 * Dive index * Mission links * Dive 47 * 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 2000

DIVE 47 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1900 ALTIM_PING_DELTA 25

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 2400 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 350 R_PORT_OVSHOOT 28 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 51 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 1735 DEVICE3 101

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 1000 CALL_WAIT 60 VBD_CNV -0.29522699 DEVICE5 -1

T_MISSION 1030 CAPUPLOAD 0 VBD_TIMEOUT 950 DEVICE6 -1

T_ABORT 2160 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 -221303.03 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 12 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 150 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 12.5 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 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021825745

HD_A 0.0044716001 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.016021 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.4708003e-06 ROLL_MIN 60 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 350

AH0_10V 122.2 D_OFFGRID 5761 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 151 D_PITCH 0 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 4 PITCH_AD_RATE 160 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 2400 PITCH_CNV 0.0046000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 25 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 2000 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 12.5 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 2160

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 1000

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -20.171059 T_GPS 15

CALL_TRIES 5 HD_A 0.0044716001 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.016021 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -221303.03

CAPMAXSIZE 100000 HD_C 9.4708003e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 1030

CF8_MAXERRORS 2 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 12

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 2 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 1735 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 28 VBD_MAX 3981

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 51 VBD_MAXERRORS 1

DEVICE3 101 MAX_BUOY 150 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 47 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 260510,010807,1837.502,-6607.672,41,1.4,41,-12.7 TGT_NAME SAN_JUAN_OP

_CALLS 1 TGT_LATLONG 1836.000,-6606.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.022,-0.208

_SM_DEPTHo 0.40 KALMAN_X 38105.8,644.3,-2514.1,-54502.5,11924.2

_SM_ANGLEo -50.8 KALMAN_Y -11897.8,-486.3,1316.8,24128.3,5964.9

GPS2 260510,011355,1837.528,-6607.662,14,1.9,31,-12.7 MHEAD_RNG_PITCHd_Wd 146.8,4064,-42.7,-8.000

SPEED_LIMITS 0.080,0.196 D_GRID 2400

Post-dive calculations and measurements:

FINISH 0.2,1.023034 _24V_AH 24.2,9.362

SM_CCo 17205,87.53,0.762,0,0,549,350.14 _10V_AH 10.6,3.293

SM_GC 0.59,0.00,0.00,87.53,0.000,0.000,0.762,15,1922,549,-7.06,0.62,350.14 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1832.77,-6611.95,181111,131309 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721 MEM 326716

HUMID 1078030313 DATA_FILE_SIZE 36808,644

INTERNAL_PRESSURE 7.97882 CAP_FILE_SIZE 156234,0

TCM_TEMP 23.30 CFSIZE 260280320,252112896

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,0,0

ALTIM_TOP_PING 19.3,18.4 GPS 260510,060337,1836.471,-6606.908,34,1.8,34,-12.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 203 107.66 SBE_CT 437 24 254.28

Roll_motor 113 136 374.44 nil 0 0 0.00

VBD_pump_during_apogee 249 1569 9462.67 AA4330 982 33 784.31

VBD_pump_during_surface 87 762 1614.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 0 0.00 nil 0 0 0.00

Iridium_during_connect 28 0 0.00 nil 0 0 0.00

Iridium_during_xfer 180 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 5.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 0 0.00

TT8 1544 19 324.21

LPSleep 12495 2 290.07

TT8_Active 465 19 97.71

TT8_Sampling 3015 39 1272.09

TT8_CF8 116 45 56.53

TT8_Kalman 0 0 0.00

Analog_circuits 1760 12 223.92

GPS_charging 0 0 0.00

Compass 2614 15 415.76

RAFOS 0 0 0.00

Transponder 2 30 0.84

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

15 -3.46 -30.1 0.0 0.0 0 107 0.00 0.00 -88.55 0.000 6 0.000 0.000 16 1923 1837 0 0 0 0 0 0

109 -3.48 -47.5 3.2 -4.9 9 121 4.10 2.25 -2.65 0.000 4 0.204 0.074 786 3291 1897 0 0 0 0 0 0

795 -3.53 -85.8 98.9 -1.2 70 801 0.00 2.17 -1.10 0.000 6 0.000 0.062 787 1874 2034 0 0 0 0 0 0

1119 -3.54 -97.6 131.1 -5.9 100 1124 0.00 2.25 -0.28 0.000 4 0.000 0.079 786 3293 2077 0 0 0 0 0 0

1797 -3.54 -97.6 173.3 -10.5 141 1802 0.00 2.15 0.00 0.000 6 0.000 0.065 786 1908 2078 0 0 0 0 0 0

2119 -3.54 -97.6 204.1 -8.7 157 2123 0.00 2.20 0.00 0.000 4 0.000 0.079 786 497 2078 0 0 0 0 0 0

2798 -3.51 -97.6 288.6 -16.5 187 2803 0.00 2.15 0.00 0.000 6 0.000 0.067 786 1887 2078 0 0 0 0 0 0

3116 -3.51 -97.6 345.4 -18.8 199 3120 0.00 2.17 0.00 0.000 4 0.000 0.084 786 509 2078 0 0 0 0 0 0

3150 -3.48 -97.6 352.3 -20.1 200 3154 0.00 2.15 0.00 0.000 6 0.000 0.070 786 1903 2078 0 0 0 0 0 0

3483 -3.48 -97.6 419.2 -20.6 211 3487 0.00 2.20 0.00 0.000 4 0.000 0.084 786 3294 2078 0 0 0 0 0 0

3808 -3.48 -97.6 490.7 -22.9 220 3814 0.00 2.17 0.00 0.000 6 0.000 0.074 786 1911 2078 0 0 0 0 0 0

4119 -3.48 -97.6 566.8 -25.6 231 4123 0.00 2.25 0.00 0.000 4 0.000 0.089 786 3298 2078 0 0 0 0 0 0

4798 -3.45 -97.6 759.5 -30.4 251 4803 0.00 2.25 0.00 0.000 6 0.000 0.084 786 1914 2078 0 0 1 0 0 0

5127 -3.45 -97.6 864.0 -32.0 262 5131 0.00 2.30 0.00 0.000 4 0.000 0.099 787 3290 2078 0 0 0 0 0 0

5666 -3.43 -97.6 1046.3 -35.9 277 5670 0.00 2.28 0.00 0.000 6 0.000 0.097 786 1905 2077 0 0 1 0 0 0

6024 -3.52 -97.6 1151.0 -29.0 283 6028 0.00 2.38 0.00 0.000 4 0.000 0.114 787 3291 2077 0 0 0 0 0 0

6703 -4.02 -135.2 1151.4 -1.3 293 6709 0.43 2.35 0.00 0.000 6 0.067 0.102 655 1908 2075 0 0 1 0 0 0

7061 end dive: NO_VERTICAL_VELOCITY

state 7061 begin apogee

7065 -0.40 0.0 1151.4 0.0 299 7146 3.70 0.00 74.55 1.569 6 0.139 0.000 1462 1652 1735 0 0 0 0 0 0

7146 end apogee: CONTROL_FINISHED_OK

state 7146 begin climb

7148 3.59 135.2 1151.0 0.0 300 7264 3.67 2.67 102.80 1.539 4 0.077 0.127 2337 3031 1277 0 0 1 0 0 0

7937 3.88 182.6 1150.6 -0.4 311 7979 0.20 2.45 35.35 1.527 6 0.074 0.114 2397 1647 1116 0 0 1 0 0 0

8304 3.91 208.2 1140.9 3.4 318 8330 0.00 2.60 20.38 1.482 4 0.000 0.137 2397 235 1028 0 0 0 0 0 0

8716 3.86 208.2 1100.6 11.6 324 8721 0.00 2.42 0.00 0.000 6 0.000 0.104 2397 1630 1028 0 0 1 0 0 0

9070 3.86 208.2 1057.2 11.7 330 9071 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 1636 1028 0 0 0 0 0 0

9373 3.86 208.2 1027.4 9.7 335 9377 0.00 2.45 0.00 0.000 4 0.000 0.129 2397 239 1027 0 0 0 0 0 0

9435 3.82 208.2 1021.0 11.1 336 9439 0.00 2.38 0.00 0.000 6 0.000 0.104 2397 1653 1027 0 0 1 0 0 0

9769 3.82 208.2 990.8 9.1 343 9773 0.00 2.50 0.00 0.000 4 0.000 0.127 2397 241 1026 0 0 0 0 0 0

9824 3.77 208.2 985.7 9.1 344 9831 0.10 2.40 0.00 0.000 6 0.176 0.104 2376 1658 1026 0 0 1 0 0 0

10137 3.78 211.6 961.7 7.4 355 10146 0.00 2.53 3.55 0.842 4 0.000 0.129 2376 244 1018 0 0 1 0 0 0

10308 3.75 211.6 948.4 8.8 360 10313 0.00 2.38 0.00 0.000 6 0.000 0.104 2376 1653 1018 0 0 1 0 0 0

10643 3.75 214.4 922.8 7.5 371 10652 0.00 2.45 3.88 0.899 4 0.000 0.122 2375 3048 1008 0 0 1 0 0 0

10814 3.75 214.4 907.7 9.3 376 10819 0.00 2.42 0.00 0.000 6 0.000 0.109 2375 1652 1008 0 0 1 0 0 0

11149 3.75 214.4 876.1 8.9 387 11153 0.00 2.47 0.00 0.000 4 0.000 0.129 2376 232 1008 0 0 0 0 0 0

11529 3.72 214.4 839.4 8.9 398 11534 0.00 2.38 0.00 0.000 6 0.000 0.104 2376 1655 1007 0 0 1 0 0 0

11853 3.72 219.0 814.0 7.2 409 11863 0.00 2.40 4.82 1.001 4 0.000 0.119 2376 3056 991 0 0 1 0 0 0

12048 3.72 219.0 798.2 8.2 415 12052 0.00 2.40 0.00 0.000 6 0.000 0.107 2376 1648 991 0 0 1 0 0 0

12381 3.72 219.0 767.9 9.1 426 12385 0.00 2.42 0.00 0.000 4 0.000 0.114 2376 3059 991 0 0 0 0 0 0

12689 3.73 222.0 743.0 7.5 435 12699 0.00 2.42 3.85 0.839 6 0.000 0.104 2376 1650 982 0 0 1 0 0 0

13017 3.73 222.0 710.1 10.8 446 13021 0.00 2.45 0.00 0.000 4 0.000 0.124 2375 241 983 0 0 0 0 0 0

13048 3.70 222.0 706.7 10.2 447 13053 0.08 2.38 0.00 0.000 6 0.179 0.097 2359 1653 982 0 0 1 0 0 0

13383 3.72 222.0 673.4 10.2 458 13388 0.00 2.45 0.00 0.000 4 0.000 0.122 2359 237 982 0 0 0 0 0 0

13483 3.70 222.0 661.9 11.1 461 13488 0.00 2.35 0.00 0.000 6 0.000 0.097 2359 1643 982 0 0 1 0 0 0

13818 3.73 222.0 619.7 13.7 472 13819 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 1648 982 0 0 0 0 0 0

14124 3.76 222.0 575.9 14.5 482 14128 0.00 2.38 0.00 0.000 4 0.000 0.107 2359 3054 982 0 0 0 0 0 0

14280 3.76 222.0 552.3 14.2 486 14284 0.00 2.38 0.00 0.000 6 0.000 0.097 2359 1652 982 0 0 1 0 0 0

14598 3.78 222.0 504.0 16.1 497 14599 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 1652 982 0 0 0 0 0 0

14904 3.80 222.0 450.6 18.3 507 14908 0.00 2.35 0.00 0.000 4 0.000 0.102 2359 3062 982 0 0 0 0 0 0

15116 3.80 222.0 412.7 17.5 513 15121 0.00 2.35 0.00 0.000 6 0.000 0.092 2359 1653 982 0 0 1 0 0 0

15440 3.80 222.0 349.7 20.3 524 15441 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 1653 982 0 0 0 0 0 0

15748 3.80 222.0 280.5 23.2 535 15752 0.00 2.35 0.00 0.000 4 0.000 0.102 2359 234 982 0 0 0 0 0 0

15887 3.76 222.0 244.5 26.8 541 15891 0.00 2.25 0.00 0.000 6 0.000 0.079 2359 1657 982 0 0 1 0 0 0

16209 3.76 222.0 165.2 25.5 557 16213 0.00 2.35 0.00 0.000 4 0.000 0.097 2359 235 982 0 0 0 0 0 0

16375 3.73 222.0 126.3 22.2 568 16382 0.00 2.22 0.00 0.000 6 0.000 0.072 2359 1657 983 0 0 1 0 0 0

16700 3.73 222.0 76.7 13.7 599 16701 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 1657 985 0 0 0 0 0 0

17019 3.73 222.0 27.9 16.8 629 17023 0.00 2.17 0.00 0.000 4 0.000 0.079 2359 3051 987 0 0 0 0 0 0

17119 3.73 222.0 11.0 15.2 637 17126 0.00 2.22 0.00 0.000 6 0.000 0.070 2359 1641 987 0 0 0 0 0 0

17166 end climb: SURFACE_DEPTH_REACHED

state 17166 begin surface coast

17189 end surface coast: CONTROL_FINISHED_OK

state 17189 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	2000
DIVE	47	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1900	ALTIM_PING_DELTA	25
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	2400	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	350	R_PORT_OVSHOOT	28	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	51	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	1735	DEVICE3	101
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	1000	CALL_WAIT	60	VBD_CNV	-0.29522699	DEVICE5	-1
T_MISSION	1030	CAPUPLOAD	0	VBD_TIMEOUT	950	DEVICE6	-1
T_ABORT	2160	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	-221303.03	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	12	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	150	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	12.5	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	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021825745
HD_A	0.0044716001	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.016021	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.4708003e-06	ROLL_MIN	60	ALTIM_TOP_TURN_MARGIN	0

GPS1	260510,010807,1837.502,-6607.672,41,1.4,41,-12.7	TGT_NAME	SAN_JUAN_OP
_CALLS	1	TGT_LATLONG	1836.000,-6606.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.022,-0.208
_SM_DEPTHo	0.40	KALMAN_X	38105.8,644.3,-2514.1,-54502.5,11924.2
_SM_ANGLEo	-50.8	KALMAN_Y	-11897.8,-486.3,1316.8,24128.3,5964.9
GPS2	260510,011355,1837.528,-6607.662,14,1.9,31,-12.7	MHEAD_RNG_PITCHd_Wd	146.8,4064,-42.7,-8.000
SPEED_LIMITS	0.080,0.196	D_GRID	2400

FINISH	0.2,1.023034	_24V_AH	24.2,9.362
SM_CCo	17205,87.53,0.762,0,0,549,350.14	_10V_AH	10.6,3.293
SM_GC	0.59,0.00,0.00,87.53,0.000,0.000,0.762,15,1922,549,-7.06,0.62,350.14	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1832.77,-6611.95,181111,131309	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721	MEM	326716
HUMID	1078030313	DATA_FILE_SIZE	36808,644
INTERNAL_PRESSURE	7.97882	CAP_FILE_SIZE	156234,0
TCM_TEMP	23.30	CFSIZE	260280320,252112896
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
ALTIM_TOP_PING	19.3,18.4	GPS	260510,060337,1836.471,-6606.908,34,1.8,34,-12.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	203	107.66	SBE_CT	437	24	254.28
Roll_motor	113	136	374.44	nil	0	0	0.00
VBD_pump_during_apogee	249	1569	9462.67	AA4330	982	33	784.31
VBD_pump_during_surface	87	762	1614.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	0	0.00	nil	0	0	0.00
Iridium_during_connect	28	0	0.00	nil	0	0	0.00
Iridium_during_xfer	180	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	5.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	0	0.00
TT8	1544	19	324.21
LPSleep	12495	2	290.07
TT8_Active	465	19	97.71
TT8_Sampling	3015	39	1272.09
TT8_CF8	116	45	56.53
TT8_Kalman	0	0	0.00
Analog_circuits	1760	12	223.92
GPS_charging	0	0	0.00
Compass	2614	15	415.76
RAFOS	0	0	0.00
Transponder	2	30	0.84

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
15	-3.46	-30.1	0.0	0.0	0	107	0.00	0.00	-88.55	0.000	6	0.000	0.000	16	1923	1837	0	0	0	0	0	0
109	-3.48	-47.5	3.2	-4.9	9	121	4.10	2.25	-2.65	0.000	4	0.204	0.074	786	3291	1897	0	0	0	0	0	0
795	-3.53	-85.8	98.9	-1.2	70	801	0.00	2.17	-1.10	0.000	6	0.000	0.062	787	1874	2034	0	0	0	0	0	0
1119	-3.54	-97.6	131.1	-5.9	100	1124	0.00	2.25	-0.28	0.000	4	0.000	0.079	786	3293	2077	0	0	0	0	0	0
1797	-3.54	-97.6	173.3	-10.5	141	1802	0.00	2.15	0.00	0.000	6	0.000	0.065	786	1908	2078	0	0	0	0	0	0
2119	-3.54	-97.6	204.1	-8.7	157	2123	0.00	2.20	0.00	0.000	4	0.000	0.079	786	497	2078	0	0	0	0	0	0
2798	-3.51	-97.6	288.6	-16.5	187	2803	0.00	2.15	0.00	0.000	6	0.000	0.067	786	1887	2078	0	0	0	0	0	0
3116	-3.51	-97.6	345.4	-18.8	199	3120	0.00	2.17	0.00	0.000	4	0.000	0.084	786	509	2078	0	0	0	0	0	0
3150	-3.48	-97.6	352.3	-20.1	200	3154	0.00	2.15	0.00	0.000	6	0.000	0.070	786	1903	2078	0	0	0	0	0	0
3483	-3.48	-97.6	419.2	-20.6	211	3487	0.00	2.20	0.00	0.000	4	0.000	0.084	786	3294	2078	0	0	0	0	0	0
3808	-3.48	-97.6	490.7	-22.9	220	3814	0.00	2.17	0.00	0.000	6	0.000	0.074	786	1911	2078	0	0	0	0	0	0
4119	-3.48	-97.6	566.8	-25.6	231	4123	0.00	2.25	0.00	0.000	4	0.000	0.089	786	3298	2078	0	0	0	0	0	0
4798	-3.45	-97.6	759.5	-30.4	251	4803	0.00	2.25	0.00	0.000	6	0.000	0.084	786	1914	2078	0	0	1	0	0	0
5127	-3.45	-97.6	864.0	-32.0	262	5131	0.00	2.30	0.00	0.000	4	0.000	0.099	787	3290	2078	0	0	0	0	0	0
5666	-3.43	-97.6	1046.3	-35.9	277	5670	0.00	2.28	0.00	0.000	6	0.000	0.097	786	1905	2077	0	0	1	0	0	0
6024	-3.52	-97.6	1151.0	-29.0	283	6028	0.00	2.38	0.00	0.000	4	0.000	0.114	787	3291	2077	0	0	0	0	0	0
6703	-4.02	-135.2	1151.4	-1.3	293	6709	0.43	2.35	0.00	0.000	6	0.067	0.102	655	1908	2075	0	0	1	0	0	0
7061	end dive: NO_VERTICAL_VELOCITY
state	7061	begin apogee
7065	-0.40	0.0	1151.4	0.0	299	7146	3.70	0.00	74.55	1.569	6	0.139	0.000	1462	1652	1735	0	0	0	0	0	0
7146	end apogee: CONTROL_FINISHED_OK
state	7146	begin climb
7148	3.59	135.2	1151.0	0.0	300	7264	3.67	2.67	102.80	1.539	4	0.077	0.127	2337	3031	1277	0	0	1	0	0	0
7937	3.88	182.6	1150.6	-0.4	311	7979	0.20	2.45	35.35	1.527	6	0.074	0.114	2397	1647	1116	0	0	1	0	0	0
8304	3.91	208.2	1140.9	3.4	318	8330	0.00	2.60	20.38	1.482	4	0.000	0.137	2397	235	1028	0	0	0	0	0	0
8716	3.86	208.2	1100.6	11.6	324	8721	0.00	2.42	0.00	0.000	6	0.000	0.104	2397	1630	1028	0	0	1	0	0	0
9070	3.86	208.2	1057.2	11.7	330	9071	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	1636	1028	0	0	0	0	0	0
9373	3.86	208.2	1027.4	9.7	335	9377	0.00	2.45	0.00	0.000	4	0.000	0.129	2397	239	1027	0	0	0	0	0	0
9435	3.82	208.2	1021.0	11.1	336	9439	0.00	2.38	0.00	0.000	6	0.000	0.104	2397	1653	1027	0	0	1	0	0	0
9769	3.82	208.2	990.8	9.1	343	9773	0.00	2.50	0.00	0.000	4	0.000	0.127	2397	241	1026	0	0	0	0	0	0
9824	3.77	208.2	985.7	9.1	344	9831	0.10	2.40	0.00	0.000	6	0.176	0.104	2376	1658	1026	0	0	1	0	0	0
10137	3.78	211.6	961.7	7.4	355	10146	0.00	2.53	3.55	0.842	4	0.000	0.129	2376	244	1018	0	0	1	0	0	0
10308	3.75	211.6	948.4	8.8	360	10313	0.00	2.38	0.00	0.000	6	0.000	0.104	2376	1653	1018	0	0	1	0	0	0
10643	3.75	214.4	922.8	7.5	371	10652	0.00	2.45	3.88	0.899	4	0.000	0.122	2375	3048	1008	0	0	1	0	0	0
10814	3.75	214.4	907.7	9.3	376	10819	0.00	2.42	0.00	0.000	6	0.000	0.109	2375	1652	1008	0	0	1	0	0	0
11149	3.75	214.4	876.1	8.9	387	11153	0.00	2.47	0.00	0.000	4	0.000	0.129	2376	232	1008	0	0	0	0	0	0
11529	3.72	214.4	839.4	8.9	398	11534	0.00	2.38	0.00	0.000	6	0.000	0.104	2376	1655	1007	0	0	1	0	0	0
11853	3.72	219.0	814.0	7.2	409	11863	0.00	2.40	4.82	1.001	4	0.000	0.119	2376	3056	991	0	0	1	0	0	0
12048	3.72	219.0	798.2	8.2	415	12052	0.00	2.40	0.00	0.000	6	0.000	0.107	2376	1648	991	0	0	1	0	0	0
12381	3.72	219.0	767.9	9.1	426	12385	0.00	2.42	0.00	0.000	4	0.000	0.114	2376	3059	991	0	0	0	0	0	0
12689	3.73	222.0	743.0	7.5	435	12699	0.00	2.42	3.85	0.839	6	0.000	0.104	2376	1650	982	0	0	1	0	0	0
13017	3.73	222.0	710.1	10.8	446	13021	0.00	2.45	0.00	0.000	4	0.000	0.124	2375	241	983	0	0	0	0	0	0
13048	3.70	222.0	706.7	10.2	447	13053	0.08	2.38	0.00	0.000	6	0.179	0.097	2359	1653	982	0	0	1	0	0	0
13383	3.72	222.0	673.4	10.2	458	13388	0.00	2.45	0.00	0.000	4	0.000	0.122	2359	237	982	0	0	0	0	0	0
13483	3.70	222.0	661.9	11.1	461	13488	0.00	2.35	0.00	0.000	6	0.000	0.097	2359	1643	982	0	0	1	0	0	0
13818	3.73	222.0	619.7	13.7	472	13819	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	1648	982	0	0	0	0	0	0
14124	3.76	222.0	575.9	14.5	482	14128	0.00	2.38	0.00	0.000	4	0.000	0.107	2359	3054	982	0	0	0	0	0	0
14280	3.76	222.0	552.3	14.2	486	14284	0.00	2.38	0.00	0.000	6	0.000	0.097	2359	1652	982	0	0	1	0	0	0
14598	3.78	222.0	504.0	16.1	497	14599	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	1652	982	0	0	0	0	0	0
14904	3.80	222.0	450.6	18.3	507	14908	0.00	2.35	0.00	0.000	4	0.000	0.102	2359	3062	982	0	0	0	0	0	0
15116	3.80	222.0	412.7	17.5	513	15121	0.00	2.35	0.00	0.000	6	0.000	0.092	2359	1653	982	0	0	1	0	0	0
15440	3.80	222.0	349.7	20.3	524	15441	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	1653	982	0	0	0	0	0	0
15748	3.80	222.0	280.5	23.2	535	15752	0.00	2.35	0.00	0.000	4	0.000	0.102	2359	234	982	0	0	0	0	0	0
15887	3.76	222.0	244.5	26.8	541	15891	0.00	2.25	0.00	0.000	6	0.000	0.079	2359	1657	982	0	0	1	0	0	0
16209	3.76	222.0	165.2	25.5	557	16213	0.00	2.35	0.00	0.000	4	0.000	0.097	2359	235	982	0	0	0	0	0	0
16375	3.73	222.0	126.3	22.2	568	16382	0.00	2.22	0.00	0.000	6	0.000	0.072	2359	1657	983	0	0	1	0	0	0
16700	3.73	222.0	76.7	13.7	599	16701	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	1657	985	0	0	0	0	0	0
17019	3.73	222.0	27.9	16.8	629	17023	0.00	2.17	0.00	0.000	4	0.000	0.079	2359	3051	987	0	0	0	0	0	0
17119	3.73	222.0	11.0	15.2	637	17126	0.00	2.22	0.00	0.000	6	0.000	0.070	2359	1641	987	0	0	0	0	0	0
17166	end climb: SURFACE_DEPTH_REACHED
state	17166	begin surface coast
17189	end surface coast: CONTROL_FINISHED_OK
state	17189	begin surface