Glider dive log

RapidMocha 18May10 * SG033 * Dive index * Mission links * Dive 9 * 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 500

DIVE 9 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 1800 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 27 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 63 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 800 CALL_WAIT 60 VBD_CNV -0.29522699 DEVICE5 -1

T_MISSION 830 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 -10 T_GPS_CHARGE -218205.77 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 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 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 1800 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 500 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 800

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 -218205.77

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 830

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 -10

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 27 VBD_MAX 3981

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 63 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 9 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 190510,114836,1836.071,-6559.352,36,0.9,36,-12.7 TGT_NAME 66W_PR

_CALLS 1 TGT_LATLONG 1830.000,-6600.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.015,-0.239

_SM_DEPTHo 0.62 KALMAN_X -2034.2,168.9,181.6,19495.6,-1031.1

_SM_ANGLEo -44.9 KALMAN_Y -5200.2,37.3,158.2,12041.2,-2716.6

GPS2 190510,115320,1836.108,-6559.340,16,1.0,16,-12.7 MHEAD_RNG_PITCHd_Wd 189.1,11370,-13.9,-7.500

SPEED_LIMITS 0.075,0.240 D_GRID 717

Post-dive calculations and measurements:

FINISH -0.3,0.997799 _24V_AH 24.4,2.095

SM_CCo 11452,0.00,0.000,0,0,486,468.53 _10V_AH 10.5,0.662

SM_GC 0.49,7.53,0.00,0.00,0.065,0.000,0.000,11,1929,486,-6.98,0.79,468.53 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1828.22,-6620.02,121111,020208 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972 MEM 328796

HUMID 1078152893 DATA_FILE_SIZE 30197,546

INTERNAL_PRESSURE 8.01789 CAP_FILE_SIZE 107019,0

TCM_TEMP 23.40 CFSIZE 260280320,254328832

XPDR_PINGS 5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

ALTIM_TOP_PING 19.6,18.4 GPS 190510,150637,1834.329,-6559.151,35,1.0,35,-12.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 198 82.27 SBE_CT 367 24 214.98

Roll_motor 109 126 339.27 nil 0 0 0.00

VBD_pump_during_apogee 441 1263 13618.00 AA4330 833 33 671.05

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 27 0 0.00 nil 0 0 0.00

Iridium_during_connect 26 0 0.00 nil 0 0 0.00

Iridium_during_xfer 145 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 43.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 0 0.00

TT8 1090 19 226.73

LPSleep 8364 2 192.35

TT8_Active 545 19 113.37

TT8_Sampling 1675 39 700.33

TT8_CF8 86 45 41.71

TT8_Kalman 33 0 0.00

Analog_circuits 1339 12 168.83

GPS_charging 0 0 0.00

Compass 1364 15 214.84

RAFOS 0 0 0.00

Transponder 22 30 7.12

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 -1.34 -146.6 0.0 0.0 0 118 0.00 0.00 -101.45 0.000 2 0.000 0.000 10 1918 2041 0 0 0 0 0 0

120 -1.34 -146.6 3.9 -6.4 10 155 6.53 2.38 -20.55 0.000 4 0.199 0.084 1249 487 2572 0 0 0 0 0 0

210 -1.34 -146.6 16.8 -13.4 18 216 0.00 2.20 0.00 0.000 6 0.000 0.065 1249 1898 2573 0 0 0 0 0 0

535 -1.34 -146.6 59.7 -11.5 49 539 0.00 2.22 0.00 0.000 4 0.000 0.082 1249 3282 2573 0 0 0 0 0 0

674 -1.34 -146.6 75.8 -11.0 61 678 0.00 2.15 0.00 0.000 6 0.000 0.077 1249 1887 2573 0 0 0 0 0 0

1004 -1.34 -146.6 107.7 -7.8 92 1007 0.00 2.22 0.00 0.000 4 0.000 0.089 1249 3283 2575 0 0 0 0 0 0

1165 -1.34 -146.6 121.6 -8.3 106 1172 0.00 2.17 0.00 0.000 6 0.000 0.077 1249 1899 2575 0 0 0 0 0 0

1490 -1.34 -146.6 149.5 -8.1 137 1493 0.00 2.20 0.00 0.000 4 0.000 0.087 1249 498 2577 0 0 0 0 0 0

1595 -1.34 -146.6 159.3 -8.7 142 1602 0.00 2.12 0.00 0.000 6 0.000 0.065 1249 1898 2577 0 0 0 0 0 0

1911 -1.34 -146.6 182.8 -7.2 158 1915 0.00 2.17 0.00 0.000 4 0.000 0.084 1249 3283 2578 0 0 0 0 0 0

2078 -1.34 -146.6 197.3 -8.8 165 2084 0.00 2.15 0.00 0.000 6 0.000 0.070 1249 1890 2578 0 0 0 0 0 0

2393 -1.34 -146.6 224.0 -9.2 181 2397 0.00 2.22 0.00 0.000 4 0.000 0.087 1249 3280 2579 0 0 0 0 0 0

2447 -1.34 -146.6 229.5 -10.0 183 2452 0.00 2.17 0.00 0.000 6 0.000 0.072 1249 1902 2579 0 0 0 0 0 0

2768 -1.34 -146.6 262.3 -10.2 199 2772 0.00 2.20 0.00 0.000 4 0.000 0.089 1249 3285 2579 0 0 0 0 0 0

2811 -1.34 -146.6 266.7 -10.0 201 2816 0.00 2.20 0.00 0.000 6 0.000 0.074 1249 1896 2579 0 0 0 0 0 0

3138 -1.34 -146.6 300.6 -10.9 217 3142 0.00 2.22 0.00 0.000 4 0.000 0.089 1249 3274 2579 0 0 0 0 0 0

3193 -1.34 -146.6 307.0 -11.2 218 3198 0.00 2.17 0.00 0.000 6 0.000 0.074 1249 1903 2579 0 0 0 0 0 0

3511 -1.34 -146.6 341.6 -11.1 229 3514 0.00 2.22 0.00 0.000 4 0.000 0.092 1249 3270 2579 0 0 0 0 0 0

3616 -1.34 -146.6 353.2 -10.8 232 3621 0.00 2.20 0.00 0.000 6 0.000 0.077 1249 1904 2579 0 0 0 0 0 0

3951 -1.34 -146.6 390.4 -11.5 243 3955 0.00 2.25 0.00 0.000 4 0.000 0.094 1249 3280 2579 0 0 0 0 0 0

4021 -1.34 -146.6 398.9 -11.6 245 4027 0.00 2.22 0.00 0.000 6 0.000 0.077 1249 1900 2579 0 0 0 0 0 0

4351 -1.34 -146.6 436.5 -11.4 256 4355 0.00 2.25 0.00 0.000 4 0.000 0.097 1249 3273 2579 0 0 1 0 0 0

4382 -1.34 -146.6 440.1 -10.4 257 4387 0.00 2.22 0.00 0.000 6 0.000 0.079 1249 1900 2579 0 0 0 0 0 0

4717 -1.34 -146.6 480.1 -12.0 268 4721 0.00 2.28 0.00 0.000 4 0.000 0.097 1249 3279 2579 0 0 1 0 0 0

4794 -1.34 -146.6 489.6 -12.3 270 4799 0.00 2.22 0.00 0.000 6 0.000 0.082 1249 1906 2579 0 0 0 0 0 0

5119 -1.34 -146.6 529.8 -12.4 281 5120 0.00 0.00 0.00 0.000 6 0.000 0.000 1249 1906 2579 0 0 0 0 0 0

5424 -1.34 -146.6 569.1 -13.6 291 5428 0.00 2.28 0.00 0.000 4 0.000 0.102 1249 3272 2579 0 0 0 0 0 0

5490 -1.34 -146.6 577.8 -12.9 293 5495 0.00 2.22 0.00 0.000 6 0.000 0.087 1249 1904 2578 0 0 1 0 0 0

5825 -1.34 -146.6 620.5 -12.8 304 5829 0.00 2.30 0.00 0.000 4 0.000 0.104 1249 3274 2578 0 0 0 0 0 0

5895 -1.34 -146.6 629.7 -12.6 306 5900 0.00 2.25 0.00 0.000 6 0.000 0.089 1249 1903 2578 0 0 1 0 0 0

6225 -1.34 -146.6 672.7 -13.5 317 6229 0.00 2.33 0.00 0.000 4 0.000 0.109 1249 3274 2578 0 0 0 0 0 0

6273 -1.34 -146.6 679.9 -15.6 318 6282 0.00 2.28 0.00 0.000 6 0.000 0.092 1249 1901 2578 0 0 1 0 0 0

6561 end dive: TARGET_DEPTH_EXCEEDED

state 6561 begin apogee

6565 -0.42 0.0 718.5 13.3 328 6675 0.93 0.00 106.12 1.264 6 0.132 0.000 1456 1652 2074 0 0 0 0 0 0

6675 end apogee: CONTROL_FINISHED_OK

state 6675 begin climb

6677 1.34 146.6 722.7 0.0 331 6792 1.67 2.53 105.95 1.234 4 0.102 0.114 1838 3012 1577 0 0 1 0 0 0

6971 1.74 467.7 732.3 -3.5 340 7211 0.32 2.38 229.52 1.239 6 0.070 0.102 1933 1649 489 0 0 1 0 0 0

7515 1.74 467.7 674.0 15.6 358 7519 0.00 2.50 0.00 0.000 4 0.000 0.127 1933 241 489 0 0 0 0 0 0

7749 1.74 467.7 635.4 17.5 365 7754 0.00 2.33 0.00 0.000 6 0.000 0.097 1933 1620 488 0 0 1 0 0 0

8084 1.74 467.7 584.5 14.8 376 8088 0.00 2.40 0.00 0.000 4 0.000 0.122 1933 238 487 0 0 0 0 0 0

8111 1.74 467.7 580.5 14.6 377 8115 0.00 2.30 0.00 0.000 6 0.000 0.094 1933 1647 487 0 0 1 0 0 0

8445 1.74 467.7 530.0 15.3 388 8449 0.00 2.45 0.00 0.000 4 0.000 0.119 1933 239 486 0 0 0 0 0 0

8498 1.74 467.7 520.8 16.6 389 8505 0.00 2.33 0.00 0.000 6 0.000 0.092 1933 1652 486 0 0 1 0 0 0

8811 1.74 467.7 471.2 15.9 400 8812 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 1652 485 0 0 0 0 0 0

9117 1.74 467.7 419.8 16.8 410 9121 0.00 2.42 0.00 0.000 4 0.000 0.114 1933 234 485 0 0 0 0 0 0

9188 1.74 467.7 406.3 18.5 412 9194 0.00 2.30 0.00 0.000 6 0.000 0.084 1933 1648 485 0 0 1 0 0 0

9518 1.74 467.7 350.7 16.8 423 9522 0.00 2.40 0.00 0.000 4 0.000 0.112 1933 237 485 0 0 0 0 0 0

9640 1.74 467.7 327.3 19.9 426 9646 0.00 2.25 0.00 0.000 6 0.000 0.082 1933 1661 485 0 0 1 0 0 0

9963 1.74 467.7 267.6 18.6 440 9967 0.00 2.38 0.00 0.000 4 0.000 0.107 1933 237 485 0 0 0 0 0 0

10035 1.74 467.7 253.1 20.4 443 10040 0.00 2.25 0.00 0.000 6 0.000 0.077 1933 1653 485 0 0 1 0 0 0

10356 1.74 467.7 189.8 20.9 459 10360 0.00 2.35 0.00 0.000 4 0.000 0.102 1933 231 485 0 0 0 0 0 0

10466 1.74 467.7 165.8 20.9 464 10472 0.00 2.25 0.00 0.000 6 0.000 0.072 1933 1650 485 0 0 0 0 0 0

10790 1.74 467.7 102.7 19.8 491 10794 0.00 2.33 0.00 0.000 4 0.000 0.099 1933 240 485 0 0 0 0 0 0

10857 1.74 467.7 89.4 20.2 497 10861 0.00 2.17 0.00 0.000 6 0.000 0.070 1933 1660 485 0 0 0 0 0 0

11186 1.74 467.7 32.5 15.5 528 11187 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 1669 485 0 0 0 0 0 0

11355 end climb: SURFACE_DEPTH_REACHED

state 11355 begin surface coast

11378 end surface coast: CONTROL_FINISHED_OK

state 11378 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	500
DIVE	9	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	1800	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	27	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	63	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	800	CALL_WAIT	60	VBD_CNV	-0.29522699	DEVICE5	-1
T_MISSION	830	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	-10	T_GPS_CHARGE	-218205.77	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	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	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	190510,114836,1836.071,-6559.352,36,0.9,36,-12.7	TGT_NAME	66W_PR
_CALLS	1	TGT_LATLONG	1830.000,-6600.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.015,-0.239
_SM_DEPTHo	0.62	KALMAN_X	-2034.2,168.9,181.6,19495.6,-1031.1
_SM_ANGLEo	-44.9	KALMAN_Y	-5200.2,37.3,158.2,12041.2,-2716.6
GPS2	190510,115320,1836.108,-6559.340,16,1.0,16,-12.7	MHEAD_RNG_PITCHd_Wd	189.1,11370,-13.9,-7.500
SPEED_LIMITS	0.075,0.240	D_GRID	717

FINISH	-0.3,0.997799	_24V_AH	24.4,2.095
SM_CCo	11452,0.00,0.000,0,0,486,468.53	_10V_AH	10.5,0.662
SM_GC	0.49,7.53,0.00,0.00,0.065,0.000,0.000,11,1929,486,-6.98,0.79,468.53	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1828.22,-6620.02,121111,020208	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972	MEM	328796
HUMID	1078152893	DATA_FILE_SIZE	30197,546
INTERNAL_PRESSURE	8.01789	CAP_FILE_SIZE	107019,0
TCM_TEMP	23.40	CFSIZE	260280320,254328832
XPDR_PINGS	5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
ALTIM_TOP_PING	19.6,18.4	GPS	190510,150637,1834.329,-6559.151,35,1.0,35,-12.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	198	82.27	SBE_CT	367	24	214.98
Roll_motor	109	126	339.27	nil	0	0	0.00
VBD_pump_during_apogee	441	1263	13618.00	AA4330	833	33	671.05
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	27	0	0.00	nil	0	0	0.00
Iridium_during_connect	26	0	0.00	nil	0	0	0.00
Iridium_during_xfer	145	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	43.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	0	0.00
TT8	1090	19	226.73
LPSleep	8364	2	192.35
TT8_Active	545	19	113.37
TT8_Sampling	1675	39	700.33
TT8_CF8	86	45	41.71
TT8_Kalman	33	0	0.00
Analog_circuits	1339	12	168.83
GPS_charging	0	0	0.00
Compass	1364	15	214.84
RAFOS	0	0	0.00
Transponder	22	30	7.12

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	-1.34	-146.6	0.0	0.0	0	118	0.00	0.00	-101.45	0.000	2	0.000	0.000	10	1918	2041	0	0	0	0	0	0
120	-1.34	-146.6	3.9	-6.4	10	155	6.53	2.38	-20.55	0.000	4	0.199	0.084	1249	487	2572	0	0	0	0	0	0
210	-1.34	-146.6	16.8	-13.4	18	216	0.00	2.20	0.00	0.000	6	0.000	0.065	1249	1898	2573	0	0	0	0	0	0
535	-1.34	-146.6	59.7	-11.5	49	539	0.00	2.22	0.00	0.000	4	0.000	0.082	1249	3282	2573	0	0	0	0	0	0
674	-1.34	-146.6	75.8	-11.0	61	678	0.00	2.15	0.00	0.000	6	0.000	0.077	1249	1887	2573	0	0	0	0	0	0
1004	-1.34	-146.6	107.7	-7.8	92	1007	0.00	2.22	0.00	0.000	4	0.000	0.089	1249	3283	2575	0	0	0	0	0	0
1165	-1.34	-146.6	121.6	-8.3	106	1172	0.00	2.17	0.00	0.000	6	0.000	0.077	1249	1899	2575	0	0	0	0	0	0
1490	-1.34	-146.6	149.5	-8.1	137	1493	0.00	2.20	0.00	0.000	4	0.000	0.087	1249	498	2577	0	0	0	0	0	0
1595	-1.34	-146.6	159.3	-8.7	142	1602	0.00	2.12	0.00	0.000	6	0.000	0.065	1249	1898	2577	0	0	0	0	0	0
1911	-1.34	-146.6	182.8	-7.2	158	1915	0.00	2.17	0.00	0.000	4	0.000	0.084	1249	3283	2578	0	0	0	0	0	0
2078	-1.34	-146.6	197.3	-8.8	165	2084	0.00	2.15	0.00	0.000	6	0.000	0.070	1249	1890	2578	0	0	0	0	0	0
2393	-1.34	-146.6	224.0	-9.2	181	2397	0.00	2.22	0.00	0.000	4	0.000	0.087	1249	3280	2579	0	0	0	0	0	0
2447	-1.34	-146.6	229.5	-10.0	183	2452	0.00	2.17	0.00	0.000	6	0.000	0.072	1249	1902	2579	0	0	0	0	0	0
2768	-1.34	-146.6	262.3	-10.2	199	2772	0.00	2.20	0.00	0.000	4	0.000	0.089	1249	3285	2579	0	0	0	0	0	0
2811	-1.34	-146.6	266.7	-10.0	201	2816	0.00	2.20	0.00	0.000	6	0.000	0.074	1249	1896	2579	0	0	0	0	0	0
3138	-1.34	-146.6	300.6	-10.9	217	3142	0.00	2.22	0.00	0.000	4	0.000	0.089	1249	3274	2579	0	0	0	0	0	0
3193	-1.34	-146.6	307.0	-11.2	218	3198	0.00	2.17	0.00	0.000	6	0.000	0.074	1249	1903	2579	0	0	0	0	0	0
3511	-1.34	-146.6	341.6	-11.1	229	3514	0.00	2.22	0.00	0.000	4	0.000	0.092	1249	3270	2579	0	0	0	0	0	0
3616	-1.34	-146.6	353.2	-10.8	232	3621	0.00	2.20	0.00	0.000	6	0.000	0.077	1249	1904	2579	0	0	0	0	0	0
3951	-1.34	-146.6	390.4	-11.5	243	3955	0.00	2.25	0.00	0.000	4	0.000	0.094	1249	3280	2579	0	0	0	0	0	0
4021	-1.34	-146.6	398.9	-11.6	245	4027	0.00	2.22	0.00	0.000	6	0.000	0.077	1249	1900	2579	0	0	0	0	0	0
4351	-1.34	-146.6	436.5	-11.4	256	4355	0.00	2.25	0.00	0.000	4	0.000	0.097	1249	3273	2579	0	0	1	0	0	0
4382	-1.34	-146.6	440.1	-10.4	257	4387	0.00	2.22	0.00	0.000	6	0.000	0.079	1249	1900	2579	0	0	0	0	0	0
4717	-1.34	-146.6	480.1	-12.0	268	4721	0.00	2.28	0.00	0.000	4	0.000	0.097	1249	3279	2579	0	0	1	0	0	0
4794	-1.34	-146.6	489.6	-12.3	270	4799	0.00	2.22	0.00	0.000	6	0.000	0.082	1249	1906	2579	0	0	0	0	0	0
5119	-1.34	-146.6	529.8	-12.4	281	5120	0.00	0.00	0.00	0.000	6	0.000	0.000	1249	1906	2579	0	0	0	0	0	0
5424	-1.34	-146.6	569.1	-13.6	291	5428	0.00	2.28	0.00	0.000	4	0.000	0.102	1249	3272	2579	0	0	0	0	0	0
5490	-1.34	-146.6	577.8	-12.9	293	5495	0.00	2.22	0.00	0.000	6	0.000	0.087	1249	1904	2578	0	0	1	0	0	0
5825	-1.34	-146.6	620.5	-12.8	304	5829	0.00	2.30	0.00	0.000	4	0.000	0.104	1249	3274	2578	0	0	0	0	0	0
5895	-1.34	-146.6	629.7	-12.6	306	5900	0.00	2.25	0.00	0.000	6	0.000	0.089	1249	1903	2578	0	0	1	0	0	0
6225	-1.34	-146.6	672.7	-13.5	317	6229	0.00	2.33	0.00	0.000	4	0.000	0.109	1249	3274	2578	0	0	0	0	0	0
6273	-1.34	-146.6	679.9	-15.6	318	6282	0.00	2.28	0.00	0.000	6	0.000	0.092	1249	1901	2578	0	0	1	0	0	0
6561	end dive: TARGET_DEPTH_EXCEEDED
state	6561	begin apogee
6565	-0.42	0.0	718.5	13.3	328	6675	0.93	0.00	106.12	1.264	6	0.132	0.000	1456	1652	2074	0	0	0	0	0	0
6675	end apogee: CONTROL_FINISHED_OK
state	6675	begin climb
6677	1.34	146.6	722.7	0.0	331	6792	1.67	2.53	105.95	1.234	4	0.102	0.114	1838	3012	1577	0	0	1	0	0	0
6971	1.74	467.7	732.3	-3.5	340	7211	0.32	2.38	229.52	1.239	6	0.070	0.102	1933	1649	489	0	0	1	0	0	0
7515	1.74	467.7	674.0	15.6	358	7519	0.00	2.50	0.00	0.000	4	0.000	0.127	1933	241	489	0	0	0	0	0	0
7749	1.74	467.7	635.4	17.5	365	7754	0.00	2.33	0.00	0.000	6	0.000	0.097	1933	1620	488	0	0	1	0	0	0
8084	1.74	467.7	584.5	14.8	376	8088	0.00	2.40	0.00	0.000	4	0.000	0.122	1933	238	487	0	0	0	0	0	0
8111	1.74	467.7	580.5	14.6	377	8115	0.00	2.30	0.00	0.000	6	0.000	0.094	1933	1647	487	0	0	1	0	0	0
8445	1.74	467.7	530.0	15.3	388	8449	0.00	2.45	0.00	0.000	4	0.000	0.119	1933	239	486	0	0	0	0	0	0
8498	1.74	467.7	520.8	16.6	389	8505	0.00	2.33	0.00	0.000	6	0.000	0.092	1933	1652	486	0	0	1	0	0	0
8811	1.74	467.7	471.2	15.9	400	8812	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	1652	485	0	0	0	0	0	0
9117	1.74	467.7	419.8	16.8	410	9121	0.00	2.42	0.00	0.000	4	0.000	0.114	1933	234	485	0	0	0	0	0	0
9188	1.74	467.7	406.3	18.5	412	9194	0.00	2.30	0.00	0.000	6	0.000	0.084	1933	1648	485	0	0	1	0	0	0
9518	1.74	467.7	350.7	16.8	423	9522	0.00	2.40	0.00	0.000	4	0.000	0.112	1933	237	485	0	0	0	0	0	0
9640	1.74	467.7	327.3	19.9	426	9646	0.00	2.25	0.00	0.000	6	0.000	0.082	1933	1661	485	0	0	1	0	0	0
9963	1.74	467.7	267.6	18.6	440	9967	0.00	2.38	0.00	0.000	4	0.000	0.107	1933	237	485	0	0	0	0	0	0
10035	1.74	467.7	253.1	20.4	443	10040	0.00	2.25	0.00	0.000	6	0.000	0.077	1933	1653	485	0	0	1	0	0	0
10356	1.74	467.7	189.8	20.9	459	10360	0.00	2.35	0.00	0.000	4	0.000	0.102	1933	231	485	0	0	0	0	0	0
10466	1.74	467.7	165.8	20.9	464	10472	0.00	2.25	0.00	0.000	6	0.000	0.072	1933	1650	485	0	0	0	0	0	0
10790	1.74	467.7	102.7	19.8	491	10794	0.00	2.33	0.00	0.000	4	0.000	0.099	1933	240	485	0	0	0	0	0	0
10857	1.74	467.7	89.4	20.2	497	10861	0.00	2.17	0.00	0.000	6	0.000	0.070	1933	1660	485	0	0	0	0	0	0
11186	1.74	467.7	32.5	15.5	528	11187	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	1669	485	0	0	0	0	0	0
11355	end climb: SURFACE_DEPTH_REACHED
state	11355	begin surface coast
11378	end surface coast: CONTROL_FINISHED_OK
state	11378	begin surface