Glider dive log

RapidMocha Sep10 * SG033 * Dive index * Mission links * Dive 11 * 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 24 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 200

DIVE 11 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1900 ALTIM_PING_DELTA 5

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1750 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 18.5 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1080 TGT_DEFAULT_LON -66 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 6099 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 0

D_NO_BLEED 200 SM_CC 500 R_PORT_OVSHOOT 19 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 340 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 146 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2082 DEVICE3 101

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 450 CALL_WAIT 60 VBD_CNV -0.29522699 DEVICE5 -1

T_MISSION 480 CAPUPLOAD 0 VBD_TIMEOUT 950 DEVICE6 -1

T_ABORT 2880 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 180 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 -237154.11 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 6084 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 1835 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043575475

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PRESSURE_YINT -19.047844 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 16 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 0.0048177 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.011392 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 1.0709e-05 ROLL_MIN 60 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 500

AH0_10V 122.2 D_OFFGRID 6084 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 1080 PITCH_CNV 0.0046000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 200 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 16 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 2 PITCH_MAX 2563 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 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 -66

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 PITCH_TIMEOUT 20 T_ABORT 2880

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 450

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -19.047844 T_GPS 15

CALL_TRIES 5 HD_A 0.0048177 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.011392 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -237154.11

CAPMAXSIZE 100000 HD_C 1.0709e-05 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 480

CF8_MAXERRORS 2 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 180

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 340 UNCOM_BLEED 20

C_PITCH 1835 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_DEG 40 USE_BATHY -10

C_ROLL_DIVE 1900 LOGGERDEVICE1 -1 ROLL_MAX 3837 USE_ICE 0

C_VBD 2082 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 19 VBD_MAX 3959

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 62 VBD_MAXERRORS 1

DEVICE3 101 MAX_BUOY 150 SEABIRD_C_G -10.332057 VBD_MIN 146

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 24 SEABIRD_C_J 0.00021825745 VBD_TIMEOUT 950

DIVE 11 MOTHERBOARD 4 SEABIRD_T_G 0.0043575475 XPDR_DEVICE 24

D_ABORT 6099 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 050910,153306,1836.799,-6559.022,40,1.2,40,-12.7 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 0.000,0.000

_SM_DEPTHo 0.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050910,153744,1836.803,-6559.042,11,1.6,11,-12.7 MHEAD_RNG_PITCHd_Wd 241.2,2245,-37.9,-8.000

SPEED_LIMITS 0.080,0.230 D_GRID 930

Post-dive calculations and measurements:

FINISH 0.3,1.022127 _24V_AH 24.3,43.357

SM_CCo 14549,144.85,0.765,0,0,388,500.11 _10V_AH 10.4,15.439

SM_GC 0.80,0.00,0.00,144.85,0.000,0.000,0.765,19,1934,388,-8.35,0.99,500.11 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1830.49,-6556.71,050910,121208 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721 MEM 327824

HUMID 53.85 DATA_FILE_SIZE 36906,644

INTERNAL_PRESSURE 8.01789 CAP_FILE_SIZE 154990,0

TCM_TEMP 23.40 CFSIZE 260280320,249815040

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

ALTIM_TOP_PING 20.0,18.9 GPS 050910,194436,1836.218,-6600.436,38,1.6,39,-12.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 193 112.48 SBE_CT 436 24 254.42

Roll_motor 119 124 361.80 nil 0 0 0.00

VBD_pump_during_apogee 286 1430 9962.25 AA4330 982 33 787.89

VBD_pump_during_surface 144 764 2691.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 62.43 nil 0 0 0.00

Iridium_during_connect 26 160 102.25 nil 0 0 0.00

Iridium_during_xfer 142 223 771.28 nil 0 0 0.00

Transponder_ping 36 420 375.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.63

TT8 1962 19 404.20

LPSleep 9744 2 221.93

TT8_Active 561 19 115.56

TT8_Sampling 2605 39 1078.61

TT8_CF8 126 45 60.30

TT8_Kalman 0 0 0.00

Analog_circuits 1699 12 212.04

GPS_charging 0 0 0.00

Compass 2182 15 340.46

RAFOS 0 0 0.00

Transponder 245 30 76.73

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -2.41 -27.6 0.0 0.0 0 126 0.00 0.00 -109.38 0.000 2 0.000 0.000 16 1935 1938 0 0 0 0 0 0

128 -2.42 -37.8 3.3 -6.0 10 152 6.85 2.53 -11.32 0.000 4 0.194 0.072 1306 3282 2211 0 0 0 0 0 0

156 -2.30 -37.8 8.2 -14.7 12 165 0.10 2.55 0.00 0.000 6 0.169 0.067 1332 1885 2211 0 0 0 0 0 0

482 -2.46 -37.8 67.5 -11.0 43 487 0.15 2.50 0.00 0.000 4 0.102 0.074 1287 487 2211 0 0 0 0 0 0

648 -2.56 -39.7 83.3 -7.6 57 656 0.00 2.42 0.00 0.000 6 0.000 0.060 1288 1880 2212 0 0 0 0 0 0

974 -2.70 -65.2 100.4 -3.1 88 978 0.17 0.00 -0.80 0.000 6 0.097 0.000 1234 1882 2312 0 0 0 0 0 0

1292 -2.77 -65.2 126.7 -11.4 118 1296 0.00 2.55 0.00 0.000 4 0.000 0.077 1234 3298 2312 0 0 0 0 0 0

1466 -2.83 -65.2 146.3 -10.8 133 1470 0.00 2.50 0.00 0.000 6 0.000 0.067 1233 1900 2313 0 0 0 0 0 0

1784 -2.90 -65.2 176.9 -9.6 150 1789 0.12 2.55 0.00 0.000 4 0.109 0.079 1193 496 2313 0 0 0 0 0 0

1996 -2.90 -65.2 202.5 -13.2 159 2003 0.00 2.47 0.00 0.000 6 0.000 0.067 1192 1891 2313 0 0 0 0 0 0

2314 -2.92 -65.2 240.9 -13.3 175 2318 0.00 2.60 0.00 0.000 4 0.000 0.082 1193 3304 2313 0 0 0 0 0 0

2651 -2.92 -65.2 295.1 -17.3 190 2656 0.00 2.55 0.00 0.000 6 0.000 0.072 1192 1905 2313 0 0 0 0 0 0

2992 -2.94 -65.2 357.1 -18.9 202 2997 0.00 2.60 0.00 0.000 4 0.000 0.087 1192 3302 2313 0 0 0 0 0 0

3333 -2.94 -65.2 431.1 -21.3 212 3337 0.00 2.60 0.00 0.000 6 0.000 0.077 1193 1899 2313 0 0 0 0 0 0

3668 -2.94 -65.2 504.0 -22.1 223 3675 0.00 2.67 0.00 0.000 4 0.000 0.092 1192 3299 2312 0 0 0 0 0 0

3982 -2.94 -65.2 581.6 -25.2 232 3987 0.00 2.67 0.00 0.000 6 0.000 0.082 1193 1900 2311 0 0 0 0 0 0

4313 -2.94 -65.2 665.9 -26.8 243 4318 0.00 2.70 0.00 0.000 4 0.000 0.102 1193 3291 2310 0 0 0 0 0 0

4496 -2.94 -65.2 717.1 -28.4 248 4501 0.00 2.70 0.00 0.000 6 0.000 0.089 1193 1905 2308 0 0 0 0 0 0

4821 -2.94 -65.2 812.0 -30.0 259 4826 0.00 2.75 0.00 0.000 4 0.000 0.109 1193 3289 2306 0 0 0 0 0 0

5088 -2.94 -65.2 893.3 -31.4 267 5092 0.00 2.72 0.00 0.000 6 0.000 0.097 1192 1902 2304 0 0 0 0 0 0

5237 end dive: TARGET_DEPTH_EXCEEDED

state 5237 begin apogee

5241 -0.31 0.0 938.9 30.3 272 5296 2.78 0.00 48.22 1.403 6 0.156 0.000 1762 1746 2081 0 0 0 0 0 0

5297 end apogee: CONTROL_FINISHED_OK

state 5297 begin climb

5298 2.45 65.2 945.4 0.0 273 5356 2.58 2.95 48.70 1.390 4 0.089 0.124 2375 337 1861 0 0 0 0 0 0

5400 2.81 168.8 952.5 -12.0 277 5485 0.30 2.83 77.18 1.410 6 0.082 0.104 2453 1726 1510 0 0 1 0 0 0

5791 2.99 245.8 981.6 -6.9 289 5856 0.15 2.95 58.28 1.430 4 0.102 0.119 2496 342 1248 0 0 1 0 0 0

6531 3.01 259.8 937.3 5.3 311 6547 0.00 2.78 10.73 1.261 6 0.000 0.109 2496 1754 1202 0 0 1 0 0 0

6866 3.06 264.8 915.6 7.0 322 6876 0.00 2.85 5.43 1.033 4 0.000 0.119 2497 337 1184 0 0 0 0 0 0

7096 3.06 267.9 898.0 7.4 329 7105 0.00 2.80 3.80 0.832 6 0.000 0.109 2496 1749 1174 0 0 1 0 0 0

7435 3.12 277.5 876.1 6.1 340 7450 0.00 2.88 8.77 1.209 4 0.000 0.122 2496 339 1142 0 0 0 0 0 0

7636 3.12 277.5 859.0 8.3 346 7641 0.00 2.80 0.00 0.000 6 0.000 0.109 2496 1747 1141 0 0 1 0 0 0

7971 3.16 277.5 830.3 8.3 357 7976 0.12 2.85 0.00 0.000 4 0.107 0.117 2533 342 1141 0 0 1 0 0 0

8054 3.14 282.2 823.8 7.1 359 8067 0.00 2.78 4.90 0.973 6 0.000 0.109 2533 1752 1126 0 0 1 0 0 0

8371 3.14 282.2 798.3 8.2 370 8376 0.00 2.88 0.00 0.000 4 0.000 0.124 2533 3157 1126 0 0 0 0 0 0

8829 3.14 286.2 762.0 7.2 383 8840 0.00 2.83 4.90 0.956 6 0.000 0.104 2533 1752 1111 0 0 0 0 0 0

9176 3.14 286.2 733.5 8.5 395 9181 0.00 2.83 0.00 0.000 4 0.000 0.117 2533 340 1111 0 0 0 0 0 0

9309 3.11 286.2 721.2 9.6 399 9314 0.12 2.78 0.00 0.000 6 0.186 0.104 2512 1748 1110 0 0 1 0 0 0

9644 3.14 286.2 691.8 9.4 410 9648 0.00 2.88 0.00 0.000 4 0.000 0.122 2513 3160 1110 0 0 0 0 0 0

10001 3.14 286.6 660.5 7.9 420 10008 0.00 2.83 0.00 0.000 6 0.000 0.099 2512 1749 1110 0 0 0 0 0 0

10314 3.16 286.6 633.1 8.6 431 10315 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 1749 1110 0 0 0 0 0 0

10620 3.19 286.6 605.5 8.8 441 10621 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1749 1110 0 0 0 0 0 0

10926 3.22 286.6 577.0 10.0 451 10932 0.10 2.88 0.00 0.000 4 0.119 0.114 2543 3161 1110 0 0 0 0 0 0

11318 3.22 286.6 529.3 11.5 462 11326 0.00 2.83 0.00 0.000 6 0.000 0.099 2543 1747 1109 0 0 0 0 0 0

11631 3.22 286.6 488.8 13.6 473 11636 0.00 2.78 0.00 0.000 4 0.000 0.107 2543 334 1108 0 0 0 0 0 0

11989 3.16 286.6 434.1 14.7 483 11996 0.00 2.72 0.00 0.000 6 0.000 0.089 2543 1761 1107 0 0 1 0 0 0

12301 3.16 286.6 382.0 17.6 494 12306 0.00 2.72 0.00 0.000 4 0.000 0.102 2543 3159 1107 0 0 0 0 0 0

12431 3.14 286.6 359.5 16.5 498 12437 0.12 2.72 0.00 0.000 6 0.191 0.087 2523 1743 1107 0 0 0 0 0 0

12766 3.14 286.6 295.0 20.3 509 12767 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1742 1108 0 0 0 0 0 0

13075 3.14 286.6 228.0 22.1 524 13080 0.00 2.67 0.00 0.000 4 0.000 0.094 2523 338 1107 0 0 0 0 0 0

13348 3.10 286.6 161.7 24.0 536 13353 0.00 2.65 0.00 0.000 6 0.000 0.074 2523 1749 1107 0 0 0 0 0 0

13678 3.10 286.6 92.8 19.2 565 13683 0.00 2.67 0.00 0.000 4 0.000 0.087 2523 336 1108 0 0 0 0 0 0

13878 3.06 286.6 59.5 12.3 582 13887 0.08 2.62 0.00 0.000 6 0.171 0.070 2507 1757 1107 0 0 0 0 0 0

14204 3.11 305.4 34.1 4.4 613 14225 0.00 0.00 15.75 0.775 6 0.000 0.000 2507 1758 1047 0 0 0 0 0 0

14509 end climb: SURFACE_DEPTH_REACHED

state 14509 begin surface coast

14532 end surface coast: CONTROL_FINISHED_OK

state 14532 begin surface

ID	33	HEADING	-1	ROLL_MAX	3837	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	24	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	200
DIVE	11	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1900	ALTIM_PING_DELTA	5
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1750	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	18.5	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1080	TGT_DEFAULT_LON	-66	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	6099	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	0
D_NO_BLEED	200	SM_CC	500	R_PORT_OVSHOOT	19	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	340	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	146	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2082	DEVICE3	101
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	450	CALL_WAIT	60	VBD_CNV	-0.29522699	DEVICE5	-1
T_MISSION	480	CAPUPLOAD	0	VBD_TIMEOUT	950	DEVICE6	-1
T_ABORT	2880	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	180	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	-237154.11	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	6084	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	1835	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043575475
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PRESSURE_YINT	-19.047844	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	16	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	0.0048177	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.011392	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	1.0709e-05	ROLL_MIN	60	ALTIM_TOP_TURN_MARGIN	0

GPS1	050910,153306,1836.799,-6559.022,40,1.2,40,-12.7	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	0.000,0.000
_SM_DEPTHo	0.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050910,153744,1836.803,-6559.042,11,1.6,11,-12.7	MHEAD_RNG_PITCHd_Wd	241.2,2245,-37.9,-8.000
SPEED_LIMITS	0.080,0.230	D_GRID	930

FINISH	0.3,1.022127	_24V_AH	24.3,43.357
SM_CCo	14549,144.85,0.765,0,0,388,500.11	_10V_AH	10.4,15.439
SM_GC	0.80,0.00,0.00,144.85,0.000,0.000,0.765,19,1934,388,-8.35,0.99,500.11	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1830.49,-6556.71,050910,121208	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721	MEM	327824
HUMID	53.85	DATA_FILE_SIZE	36906,644
INTERNAL_PRESSURE	8.01789	CAP_FILE_SIZE	154990,0
TCM_TEMP	23.40	CFSIZE	260280320,249815040
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
ALTIM_TOP_PING	20.0,18.9	GPS	050910,194436,1836.218,-6600.436,38,1.6,39,-12.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	193	112.48	SBE_CT	436	24	254.42
Roll_motor	119	124	361.80	nil	0	0	0.00
VBD_pump_during_apogee	286	1430	9962.25	AA4330	982	33	787.89
VBD_pump_during_surface	144	764	2691.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	62.43	nil	0	0	0.00
Iridium_during_connect	26	160	102.25	nil	0	0	0.00
Iridium_during_xfer	142	223	771.28	nil	0	0	0.00
Transponder_ping	36	420	375.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.63
TT8	1962	19	404.20
LPSleep	9744	2	221.93
TT8_Active	561	19	115.56
TT8_Sampling	2605	39	1078.61
TT8_CF8	126	45	60.30
TT8_Kalman	0	0	0.00
Analog_circuits	1699	12	212.04
GPS_charging	0	0	0.00
Compass	2182	15	340.46
RAFOS	0	0	0.00
Transponder	245	30	76.73

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-2.41	-27.6	0.0	0.0	0	126	0.00	0.00	-109.38	0.000	2	0.000	0.000	16	1935	1938	0	0	0	0	0	0
128	-2.42	-37.8	3.3	-6.0	10	152	6.85	2.53	-11.32	0.000	4	0.194	0.072	1306	3282	2211	0	0	0	0	0	0
156	-2.30	-37.8	8.2	-14.7	12	165	0.10	2.55	0.00	0.000	6	0.169	0.067	1332	1885	2211	0	0	0	0	0	0
482	-2.46	-37.8	67.5	-11.0	43	487	0.15	2.50	0.00	0.000	4	0.102	0.074	1287	487	2211	0	0	0	0	0	0
648	-2.56	-39.7	83.3	-7.6	57	656	0.00	2.42	0.00	0.000	6	0.000	0.060	1288	1880	2212	0	0	0	0	0	0
974	-2.70	-65.2	100.4	-3.1	88	978	0.17	0.00	-0.80	0.000	6	0.097	0.000	1234	1882	2312	0	0	0	0	0	0
1292	-2.77	-65.2	126.7	-11.4	118	1296	0.00	2.55	0.00	0.000	4	0.000	0.077	1234	3298	2312	0	0	0	0	0	0
1466	-2.83	-65.2	146.3	-10.8	133	1470	0.00	2.50	0.00	0.000	6	0.000	0.067	1233	1900	2313	0	0	0	0	0	0
1784	-2.90	-65.2	176.9	-9.6	150	1789	0.12	2.55	0.00	0.000	4	0.109	0.079	1193	496	2313	0	0	0	0	0	0
1996	-2.90	-65.2	202.5	-13.2	159	2003	0.00	2.47	0.00	0.000	6	0.000	0.067	1192	1891	2313	0	0	0	0	0	0
2314	-2.92	-65.2	240.9	-13.3	175	2318	0.00	2.60	0.00	0.000	4	0.000	0.082	1193	3304	2313	0	0	0	0	0	0
2651	-2.92	-65.2	295.1	-17.3	190	2656	0.00	2.55	0.00	0.000	6	0.000	0.072	1192	1905	2313	0	0	0	0	0	0
2992	-2.94	-65.2	357.1	-18.9	202	2997	0.00	2.60	0.00	0.000	4	0.000	0.087	1192	3302	2313	0	0	0	0	0	0
3333	-2.94	-65.2	431.1	-21.3	212	3337	0.00	2.60	0.00	0.000	6	0.000	0.077	1193	1899	2313	0	0	0	0	0	0
3668	-2.94	-65.2	504.0	-22.1	223	3675	0.00	2.67	0.00	0.000	4	0.000	0.092	1192	3299	2312	0	0	0	0	0	0
3982	-2.94	-65.2	581.6	-25.2	232	3987	0.00	2.67	0.00	0.000	6	0.000	0.082	1193	1900	2311	0	0	0	0	0	0
4313	-2.94	-65.2	665.9	-26.8	243	4318	0.00	2.70	0.00	0.000	4	0.000	0.102	1193	3291	2310	0	0	0	0	0	0
4496	-2.94	-65.2	717.1	-28.4	248	4501	0.00	2.70	0.00	0.000	6	0.000	0.089	1193	1905	2308	0	0	0	0	0	0
4821	-2.94	-65.2	812.0	-30.0	259	4826	0.00	2.75	0.00	0.000	4	0.000	0.109	1193	3289	2306	0	0	0	0	0	0
5088	-2.94	-65.2	893.3	-31.4	267	5092	0.00	2.72	0.00	0.000	6	0.000	0.097	1192	1902	2304	0	0	0	0	0	0
5237	end dive: TARGET_DEPTH_EXCEEDED
state	5237	begin apogee
5241	-0.31	0.0	938.9	30.3	272	5296	2.78	0.00	48.22	1.403	6	0.156	0.000	1762	1746	2081	0	0	0	0	0	0
5297	end apogee: CONTROL_FINISHED_OK
state	5297	begin climb
5298	2.45	65.2	945.4	0.0	273	5356	2.58	2.95	48.70	1.390	4	0.089	0.124	2375	337	1861	0	0	0	0	0	0
5400	2.81	168.8	952.5	-12.0	277	5485	0.30	2.83	77.18	1.410	6	0.082	0.104	2453	1726	1510	0	0	1	0	0	0
5791	2.99	245.8	981.6	-6.9	289	5856	0.15	2.95	58.28	1.430	4	0.102	0.119	2496	342	1248	0	0	1	0	0	0
6531	3.01	259.8	937.3	5.3	311	6547	0.00	2.78	10.73	1.261	6	0.000	0.109	2496	1754	1202	0	0	1	0	0	0
6866	3.06	264.8	915.6	7.0	322	6876	0.00	2.85	5.43	1.033	4	0.000	0.119	2497	337	1184	0	0	0	0	0	0
7096	3.06	267.9	898.0	7.4	329	7105	0.00	2.80	3.80	0.832	6	0.000	0.109	2496	1749	1174	0	0	1	0	0	0
7435	3.12	277.5	876.1	6.1	340	7450	0.00	2.88	8.77	1.209	4	0.000	0.122	2496	339	1142	0	0	0	0	0	0
7636	3.12	277.5	859.0	8.3	346	7641	0.00	2.80	0.00	0.000	6	0.000	0.109	2496	1747	1141	0	0	1	0	0	0
7971	3.16	277.5	830.3	8.3	357	7976	0.12	2.85	0.00	0.000	4	0.107	0.117	2533	342	1141	0	0	1	0	0	0
8054	3.14	282.2	823.8	7.1	359	8067	0.00	2.78	4.90	0.973	6	0.000	0.109	2533	1752	1126	0	0	1	0	0	0
8371	3.14	282.2	798.3	8.2	370	8376	0.00	2.88	0.00	0.000	4	0.000	0.124	2533	3157	1126	0	0	0	0	0	0
8829	3.14	286.2	762.0	7.2	383	8840	0.00	2.83	4.90	0.956	6	0.000	0.104	2533	1752	1111	0	0	0	0	0	0
9176	3.14	286.2	733.5	8.5	395	9181	0.00	2.83	0.00	0.000	4	0.000	0.117	2533	340	1111	0	0	0	0	0	0
9309	3.11	286.2	721.2	9.6	399	9314	0.12	2.78	0.00	0.000	6	0.186	0.104	2512	1748	1110	0	0	1	0	0	0
9644	3.14	286.2	691.8	9.4	410	9648	0.00	2.88	0.00	0.000	4	0.000	0.122	2513	3160	1110	0	0	0	0	0	0
10001	3.14	286.6	660.5	7.9	420	10008	0.00	2.83	0.00	0.000	6	0.000	0.099	2512	1749	1110	0	0	0	0	0	0
10314	3.16	286.6	633.1	8.6	431	10315	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	1749	1110	0	0	0	0	0	0
10620	3.19	286.6	605.5	8.8	441	10621	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	1749	1110	0	0	0	0	0	0
10926	3.22	286.6	577.0	10.0	451	10932	0.10	2.88	0.00	0.000	4	0.119	0.114	2543	3161	1110	0	0	0	0	0	0
11318	3.22	286.6	529.3	11.5	462	11326	0.00	2.83	0.00	0.000	6	0.000	0.099	2543	1747	1109	0	0	0	0	0	0
11631	3.22	286.6	488.8	13.6	473	11636	0.00	2.78	0.00	0.000	4	0.000	0.107	2543	334	1108	0	0	0	0	0	0
11989	3.16	286.6	434.1	14.7	483	11996	0.00	2.72	0.00	0.000	6	0.000	0.089	2543	1761	1107	0	0	1	0	0	0
12301	3.16	286.6	382.0	17.6	494	12306	0.00	2.72	0.00	0.000	4	0.000	0.102	2543	3159	1107	0	0	0	0	0	0
12431	3.14	286.6	359.5	16.5	498	12437	0.12	2.72	0.00	0.000	6	0.191	0.087	2523	1743	1107	0	0	0	0	0	0
12766	3.14	286.6	295.0	20.3	509	12767	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	1742	1108	0	0	0	0	0	0
13075	3.14	286.6	228.0	22.1	524	13080	0.00	2.67	0.00	0.000	4	0.000	0.094	2523	338	1107	0	0	0	0	0	0
13348	3.10	286.6	161.7	24.0	536	13353	0.00	2.65	0.00	0.000	6	0.000	0.074	2523	1749	1107	0	0	0	0	0	0
13678	3.10	286.6	92.8	19.2	565	13683	0.00	2.67	0.00	0.000	4	0.000	0.087	2523	336	1108	0	0	0	0	0	0
13878	3.06	286.6	59.5	12.3	582	13887	0.08	2.62	0.00	0.000	6	0.171	0.070	2507	1757	1107	0	0	0	0	0	0
14204	3.11	305.4	34.1	4.4	613	14225	0.00	0.00	15.75	0.775	6	0.000	0.000	2507	1758	1047	0	0	0	0	0	0
14509	end climb: SURFACE_DEPTH_REACHED
state	14509	begin surface coast
14532	end surface coast: CONTROL_FINISHED_OK
state	14532	begin surface