Glider dive log

RapidMocha Jul10 * SG033 * Dive index * Mission links * Dive 24 * 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 22 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 100

DIVE 24 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2300 ALTIM_PING_DELTA 10

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1950 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 5800 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 0

D_NO_BLEED 200 SM_CC 300 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 46 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 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 720 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 0 T_GPS_CHARGE -229847.06 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 1850 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043575475

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PRESSURE_YINT -20.341413 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 300

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 1080 PITCH_CNV 0.0046000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 100 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 720

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 -20.341413 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 -229847.06

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 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 1850 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1950 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2300 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 35 VBD_MAX 3959

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 46 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 22 SEABIRD_C_J 0.00021825745 VBD_TIMEOUT 950

DIVE 24 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 010810,183125,1832.226,-6601.490,42,0.9,42,-12.7 TGT_NAME 66W_1906N_N

_CALLS 1 TGT_LATLONG 1906.000,-6600.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.245,-0.034

_SM_DEPTHo 0.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010810,183625,1832.240,-6601.580,11,1.0,16,-12.7 MHEAD_RNG_PITCHd_Wd 15.2,62585,-16.3,-8.000

SPEED_LIMITS 0.080,0.230 D_GRID 1080

Post-dive calculations and measurements:

FINISH 0.3,1.022276 _24V_AH 24.4,26.345

SM_CCo 16480,0.00,0.000,0,0,852,363.13 _10V_AH 10.5,9.550

SM_GC 1.02,8.27,0.00,0.00,0.060,0.000,0.000,19,2245,852,-8.34,-1.53,363.13 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1823.67,-6602.71,250112,080835 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972 MEM 327800

HUMID 1078600635 DATA_FILE_SIZE 43462,770

INTERNAL_PRESSURE 7.86163 CAP_FILE_SIZE 153228,0

TCM_TEMP 24.30 CFSIZE 260280320,251539456

XPDR_PINGS 19 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

ALTIM_TOP_PING 19.8,19.4 GPS 010810,231237,1834.430,-6601.211,38,1.1,39,-12.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 193 94.87 SBE_CT 520 24 304.58

Roll_motor 146 119 426.33 nil 0 0 0.00

VBD_pump_during_apogee 374 1330 12170.32 AA4330 1172 33 943.95

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 25 0 0.00 nil 0 0 0.00

Iridium_during_connect 27 0 0.00 nil 0 0 0.00

Iridium_during_xfer 160 0 0.00 nil 0 0 0.00

Transponder_ping 22 420 225.46 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 0 0.00

TT8 2154 19 447.88

LPSleep 11562 2 265.87

TT8_Active 557 19 115.84

TT8_Sampling 2388 39 998.29

TT8_CF8 119 45 57.26

TT8_Kalman 0 0 0.00

Analog_circuits 1611 12 203.09

GPS_charging 0 0 0.00

Compass 2004 15 315.68

RAFOS 0 0 0.00

Transponder 110 30 34.69

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 -1.20 -146.6 0.0 0.0 0 90 0.00 0.00 -72.75 0.000 2 0.000 0.000 10 2256 2107 0 0 0 0 0 0

92 -1.20 -146.6 3.3 -5.5 7 126 8.32 2.33 -18.58 0.000 4 0.194 0.079 1584 3691 2578 0 0 0 0 0 0

411 -1.16 -146.6 39.1 -11.6 35 419 0.00 2.17 0.00 0.000 6 0.000 0.060 1585 2270 2579 0 0 0 0 0 0

737 -1.16 -146.6 68.5 -9.7 66 741 0.00 2.10 0.00 0.000 4 0.000 0.074 1584 911 2580 0 0 0 0 0 0

844 -1.16 -146.6 77.6 -7.7 75 848 0.00 2.12 0.00 0.000 6 0.000 0.065 1585 2296 2581 0 0 0 0 0 0

1169 -1.16 -146.6 101.5 -6.5 105 1173 0.00 2.22 0.00 0.000 4 0.000 0.084 1585 3702 2581 0 0 0 0 0 0

1321 -1.16 -146.6 112.3 -7.2 118 1325 0.00 2.12 0.00 0.000 6 0.000 0.062 1584 2291 2582 0 0 0 0 0 0

1646 -1.16 -146.6 130.1 -5.4 148 1650 0.00 2.25 0.00 0.000 4 0.000 0.084 1585 3695 2583 0 0 0 0 0 0

1740 -1.16 -146.6 135.8 -6.1 156 1748 0.00 2.12 0.00 0.000 6 0.000 0.062 1585 2302 2583 0 0 0 0 0 0

2073 -1.16 -146.6 156.5 -6.1 183 2077 0.00 2.22 0.00 0.000 4 0.000 0.087 1585 3694 2584 0 0 0 0 0 0

2330 -1.16 -146.6 172.2 -5.5 194 2338 0.00 2.12 0.00 0.000 6 0.000 0.062 1585 2302 2584 0 0 0 0 0 0

2647 -1.16 -146.6 190.3 -6.2 210 2651 0.00 2.28 0.00 0.000 4 0.000 0.087 1584 3695 2584 0 0 0 0 0 0

2867 -1.16 -146.6 205.1 -6.8 220 2871 0.00 2.10 0.00 0.000 6 0.000 0.065 1585 2302 2584 0 0 0 0 0 0

3194 -1.16 -146.6 226.9 -7.8 236 3195 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2299 2584 0 0 0 0 0 0

3502 -1.16 -146.6 251.9 -8.4 251 3506 0.00 2.30 0.00 0.000 4 0.000 0.092 1585 3699 2584 0 0 0 0 0 0

3647 -1.16 -146.6 264.5 -7.4 257 3654 0.00 2.17 0.00 0.000 6 0.000 0.067 1585 2299 2584 0 0 0 0 0 0

3964 -1.16 -146.6 291.0 -8.7 273 3965 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2299 2584 0 0 0 0 0 0

4270 -1.16 -146.6 317.3 -8.4 285 4274 0.00 2.30 0.00 0.000 4 0.000 0.092 1585 3698 2583 0 0 0 0 0 0

4403 -1.16 -146.6 329.2 -8.3 289 4407 0.00 2.17 0.00 0.000 6 0.000 0.067 1585 2312 2583 0 0 0 0 0 0

4739 -1.16 -146.6 360.5 -10.0 300 4743 0.00 2.28 0.00 0.000 4 0.000 0.092 1585 3691 2582 0 0 0 0 0 0

4781 -1.16 -146.6 365.2 -10.7 301 4786 0.00 2.17 0.00 0.000 6 0.000 0.067 1585 2309 2582 0 0 0 0 0 0

5107 -1.16 -146.6 397.6 -10.1 312 5111 0.00 2.30 0.00 0.000 4 0.000 0.092 1585 3694 2581 0 0 0 0 0 0

5168 -1.16 -146.6 404.3 -10.9 314 5172 0.00 2.20 0.00 0.000 6 0.000 0.079 1585 2292 2581 0 0 0 0 0 0

5503 -1.16 -146.6 436.2 -9.7 325 5507 0.00 2.33 0.00 0.000 4 0.000 0.094 1585 3689 2580 0 0 0 0 0 0

5619 -1.14 -146.6 449.4 -10.9 328 5624 0.00 2.22 0.00 0.000 6 0.000 0.077 1584 2302 2579 0 0 0 0 0 0

5937 -1.12 -146.6 485.4 -11.6 339 5939 0.10 0.00 0.00 0.000 6 0.156 0.000 1605 2300 2577 0 0 0 0 0 0

6243 -1.12 -146.6 516.9 -9.9 349 6247 0.00 2.35 0.00 0.000 4 0.000 0.099 1605 3689 2576 0 0 1 0 0 0

6290 -1.12 -146.6 522.3 -10.8 350 6295 0.00 2.25 0.00 0.000 6 0.000 0.082 1605 2296 2576 0 0 0 0 0 0

6612 -1.12 -146.6 552.3 -9.1 361 6616 0.00 2.35 0.00 0.000 4 0.000 0.099 1605 3690 2576 0 0 0 0 0 0

6710 -1.12 -146.6 561.9 -8.9 364 6715 0.00 2.25 0.00 0.000 6 0.000 0.084 1605 2304 2575 0 0 0 0 0 0

7046 -1.12 -146.6 595.9 -10.7 375 7050 0.00 2.30 0.00 0.000 4 0.000 0.092 1605 897 2574 0 0 0 0 0 0

7077 -1.12 -146.6 599.5 -11.4 376 7083 0.00 2.28 0.00 0.000 6 0.000 0.084 1605 2285 2574 0 0 1 0 0 0

7413 -1.12 -146.6 636.5 -10.4 387 7417 0.00 2.40 0.00 0.000 4 0.000 0.104 1606 3710 2573 0 0 0 0 0 0

7546 -1.12 -146.6 650.5 -9.6 391 7551 0.00 2.30 0.00 0.000 6 0.000 0.077 1605 2302 2571 0 0 0 0 0 0

7882 -1.12 -146.6 689.5 -11.9 402 7886 0.00 2.40 0.00 0.000 4 0.000 0.104 1605 3712 2570 0 0 0 0 0 0

7930 -1.12 -146.6 695.6 -12.2 403 7934 0.00 2.33 0.00 0.000 6 0.000 0.079 1605 2300 2570 0 0 0 0 0 0

8255 -1.12 -146.6 731.9 -11.3 414 8256 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2293 2568 0 0 0 0 0 0

8561 -1.12 -146.6 768.1 -11.7 424 8565 0.00 2.47 0.00 0.000 4 0.000 0.117 1605 3711 2567 0 0 0 0 0 0

9239 -1.29 -146.6 775.3 0.3 444 9244 0.12 2.35 0.00 0.000 6 0.072 0.084 1560 2304 2564 0 0 0 0 0 0

9322 end dive: NO_VERTICAL_VELOCITY

state 9322 begin apogee

9326 -0.31 0.0 775.4 0.0 447 9433 0.95 0.00 103.85 1.331 6 0.089 0.000 1786 1945 2082 0 0 0 0 0 0

9434 end apogee: CONTROL_FINISHED_OK

state 9434 begin climb

9435 1.20 146.6 775.2 0.0 450 9548 1.42 0.00 108.62 1.304 6 0.094 0.000 2110 1945 1585 0 0 0 0 0 0

9840 1.67 360.7 774.9 0.2 464 10011 0.43 2.65 162.30 1.304 4 0.070 0.119 2229 3351 859 0 0 1 0 0 0

10083 1.59 360.7 760.2 13.8 471 10091 0.12 2.45 0.00 0.000 6 0.134 0.092 2201 1951 857 0 0 1 0 0 0

10396 1.55 360.7 724.2 11.7 482 10401 0.00 2.45 0.00 0.000 4 0.000 0.112 2201 539 857 0 0 0 0 0 0

10642 1.49 360.7 693.4 12.5 489 10647 0.10 2.38 0.00 0.000 6 0.127 0.092 2176 1946 856 0 0 1 0 0 0

10965 1.49 360.7 658.9 10.6 500 10969 0.00 2.42 0.00 0.000 4 0.000 0.112 2175 536 855 0 0 0 0 0 0

11130 1.46 360.7 640.8 11.2 505 11134 0.00 2.35 0.00 0.000 6 0.000 0.092 2175 1953 856 0 0 1 0 0 0

11464 1.46 360.7 602.8 11.4 516 11468 0.00 2.42 0.00 0.000 4 0.000 0.112 2176 3357 856 0 0 0 0 0 0

11495 1.43 360.7 598.7 11.8 517 11500 0.00 2.38 0.00 0.000 6 0.000 0.089 2175 1948 854 0 0 1 0 0 0

11831 1.41 360.7 561.1 11.2 528 11835 0.00 2.38 0.00 0.000 4 0.000 0.107 2175 537 854 0 0 0 0 0 0

12020 1.36 360.7 537.4 13.2 533 12028 0.10 2.35 0.00 0.000 6 0.124 0.097 2150 1950 854 0 0 1 0 0 0

12333 1.36 360.7 503.2 10.9 544 12337 0.00 2.38 0.00 0.000 4 0.000 0.107 2150 3356 854 0 0 0 0 0 0

12353 1.36 360.7 500.7 10.9 544 12361 0.00 2.35 0.00 0.000 6 0.000 0.084 2150 1951 852 0 0 0 0 0 0

12666 1.36 360.7 466.0 11.1 555 12670 0.00 2.38 0.00 0.000 4 0.000 0.102 2149 538 852 0 0 0 0 0 0

12776 1.36 360.7 452.7 12.2 558 12781 0.00 2.33 0.00 0.000 6 0.000 0.084 2149 1949 852 0 0 1 0 0 0

13100 1.36 360.7 414.4 12.2 569 13104 0.00 2.35 0.00 0.000 4 0.000 0.099 2149 541 852 0 0 0 0 0 0

13196 1.34 360.7 402.3 11.5 572 13200 0.00 2.25 0.00 0.000 6 0.000 0.082 2149 1953 852 0 0 1 0 0 0

13530 1.34 360.7 361.4 11.9 583 13535 0.00 2.38 0.00 0.000 4 0.000 0.097 2149 538 852 0 0 0 0 0 0

13570 1.32 360.7 356.1 12.9 584 13574 0.00 2.25 0.00 0.000 6 0.000 0.077 2149 1958 852 0 0 1 0 0 0

13892 1.32 360.7 312.4 14.0 595 13893 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 1958 852 0 0 0 0 0 0

14211 1.29 360.7 266.7 14.3 609 14215 0.00 2.35 0.00 0.000 4 0.000 0.094 2149 535 852 0 0 0 0 0 0

14318 1.26 360.7 250.2 15.2 614 14323 0.12 2.25 0.00 0.000 6 0.154 0.074 2124 1953 852 0 0 1 0 0 0

14643 1.26 360.7 207.4 12.9 630 14648 0.00 2.33 0.00 0.000 4 0.000 0.092 2124 538 852 0 0 0 0 0 0

14750 1.26 360.7 192.7 13.3 635 14754 0.00 2.22 0.00 0.000 6 0.000 0.072 2124 1952 852 0 0 0 0 0 0

15082 1.26 360.7 148.9 13.4 651 15086 0.00 2.30 0.00 0.000 4 0.000 0.092 2124 3357 852 0 0 0 0 0 0

15133 1.26 360.7 142.4 14.5 655 15137 0.00 2.22 0.00 0.000 6 0.000 0.072 2124 1939 852 0 0 0 0 0 0

15457 1.26 360.7 98.9 13.2 685 15461 0.00 2.25 0.00 0.000 4 0.000 0.087 2124 546 852 0 0 0 0 0 0

15475 1.26 360.7 96.6 14.3 686 15479 0.00 2.20 0.00 0.000 6 0.000 0.067 2124 1955 852 0 0 0 0 0 0

15799 1.26 360.7 60.2 11.4 716 15803 0.00 2.30 0.00 0.000 4 0.000 0.087 2124 542 853 0 0 0 0 0 0

15962 1.26 360.7 41.4 10.0 730 15966 0.00 2.17 0.00 0.000 6 0.000 0.065 2124 1964 852 0 0 0 0 0 0

16286 1.28 360.7 11.9 10.1 760 16290 0.00 2.22 0.00 0.000 4 0.000 0.092 2124 3343 853 0 0 0 0 0 0

16369 end climb: SURFACE_DEPTH_REACHED

state 16369 begin surface coast

16403 end surface coast: CONTROL_FINISHED_OK

state 16404 begin surface

ID	33	HEADING	-1	ROLL_MAX	3837	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	22	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	100
DIVE	24	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2300	ALTIM_PING_DELTA	10
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1950	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	5800	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	0
D_NO_BLEED	200	SM_CC	300	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	46	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	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	720	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	0	T_GPS_CHARGE	-229847.06	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	1850	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043575475
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PRESSURE_YINT	-20.341413	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	010810,183125,1832.226,-6601.490,42,0.9,42,-12.7	TGT_NAME	66W_1906N_N
_CALLS	1	TGT_LATLONG	1906.000,-6600.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.245,-0.034
_SM_DEPTHo	0.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010810,183625,1832.240,-6601.580,11,1.0,16,-12.7	MHEAD_RNG_PITCHd_Wd	15.2,62585,-16.3,-8.000
SPEED_LIMITS	0.080,0.230	D_GRID	1080

FINISH	0.3,1.022276	_24V_AH	24.4,26.345
SM_CCo	16480,0.00,0.000,0,0,852,363.13	_10V_AH	10.5,9.550
SM_GC	1.02,8.27,0.00,0.00,0.060,0.000,0.000,19,2245,852,-8.34,-1.53,363.13	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1823.67,-6602.71,250112,080835	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972	MEM	327800
HUMID	1078600635	DATA_FILE_SIZE	43462,770
INTERNAL_PRESSURE	7.86163	CAP_FILE_SIZE	153228,0
TCM_TEMP	24.30	CFSIZE	260280320,251539456
XPDR_PINGS	19	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
ALTIM_TOP_PING	19.8,19.4	GPS	010810,231237,1834.430,-6601.211,38,1.1,39,-12.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	193	94.87	SBE_CT	520	24	304.58
Roll_motor	146	119	426.33	nil	0	0	0.00
VBD_pump_during_apogee	374	1330	12170.32	AA4330	1172	33	943.95
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	25	0	0.00	nil	0	0	0.00
Iridium_during_connect	27	0	0.00	nil	0	0	0.00
Iridium_during_xfer	160	0	0.00	nil	0	0	0.00
Transponder_ping	22	420	225.46	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	0	0.00
TT8	2154	19	447.88
LPSleep	11562	2	265.87
TT8_Active	557	19	115.84
TT8_Sampling	2388	39	998.29
TT8_CF8	119	45	57.26
TT8_Kalman	0	0	0.00
Analog_circuits	1611	12	203.09
GPS_charging	0	0	0.00
Compass	2004	15	315.68
RAFOS	0	0	0.00
Transponder	110	30	34.69

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	-1.20	-146.6	0.0	0.0	0	90	0.00	0.00	-72.75	0.000	2	0.000	0.000	10	2256	2107	0	0	0	0	0	0
92	-1.20	-146.6	3.3	-5.5	7	126	8.32	2.33	-18.58	0.000	4	0.194	0.079	1584	3691	2578	0	0	0	0	0	0
411	-1.16	-146.6	39.1	-11.6	35	419	0.00	2.17	0.00	0.000	6	0.000	0.060	1585	2270	2579	0	0	0	0	0	0
737	-1.16	-146.6	68.5	-9.7	66	741	0.00	2.10	0.00	0.000	4	0.000	0.074	1584	911	2580	0	0	0	0	0	0
844	-1.16	-146.6	77.6	-7.7	75	848	0.00	2.12	0.00	0.000	6	0.000	0.065	1585	2296	2581	0	0	0	0	0	0
1169	-1.16	-146.6	101.5	-6.5	105	1173	0.00	2.22	0.00	0.000	4	0.000	0.084	1585	3702	2581	0	0	0	0	0	0
1321	-1.16	-146.6	112.3	-7.2	118	1325	0.00	2.12	0.00	0.000	6	0.000	0.062	1584	2291	2582	0	0	0	0	0	0
1646	-1.16	-146.6	130.1	-5.4	148	1650	0.00	2.25	0.00	0.000	4	0.000	0.084	1585	3695	2583	0	0	0	0	0	0
1740	-1.16	-146.6	135.8	-6.1	156	1748	0.00	2.12	0.00	0.000	6	0.000	0.062	1585	2302	2583	0	0	0	0	0	0
2073	-1.16	-146.6	156.5	-6.1	183	2077	0.00	2.22	0.00	0.000	4	0.000	0.087	1585	3694	2584	0	0	0	0	0	0
2330	-1.16	-146.6	172.2	-5.5	194	2338	0.00	2.12	0.00	0.000	6	0.000	0.062	1585	2302	2584	0	0	0	0	0	0
2647	-1.16	-146.6	190.3	-6.2	210	2651	0.00	2.28	0.00	0.000	4	0.000	0.087	1584	3695	2584	0	0	0	0	0	0
2867	-1.16	-146.6	205.1	-6.8	220	2871	0.00	2.10	0.00	0.000	6	0.000	0.065	1585	2302	2584	0	0	0	0	0	0
3194	-1.16	-146.6	226.9	-7.8	236	3195	0.00	0.00	0.00	0.000	6	0.000	0.000	1585	2299	2584	0	0	0	0	0	0
3502	-1.16	-146.6	251.9	-8.4	251	3506	0.00	2.30	0.00	0.000	4	0.000	0.092	1585	3699	2584	0	0	0	0	0	0
3647	-1.16	-146.6	264.5	-7.4	257	3654	0.00	2.17	0.00	0.000	6	0.000	0.067	1585	2299	2584	0	0	0	0	0	0
3964	-1.16	-146.6	291.0	-8.7	273	3965	0.00	0.00	0.00	0.000	6	0.000	0.000	1584	2299	2584	0	0	0	0	0	0
4270	-1.16	-146.6	317.3	-8.4	285	4274	0.00	2.30	0.00	0.000	4	0.000	0.092	1585	3698	2583	0	0	0	0	0	0
4403	-1.16	-146.6	329.2	-8.3	289	4407	0.00	2.17	0.00	0.000	6	0.000	0.067	1585	2312	2583	0	0	0	0	0	0
4739	-1.16	-146.6	360.5	-10.0	300	4743	0.00	2.28	0.00	0.000	4	0.000	0.092	1585	3691	2582	0	0	0	0	0	0
4781	-1.16	-146.6	365.2	-10.7	301	4786	0.00	2.17	0.00	0.000	6	0.000	0.067	1585	2309	2582	0	0	0	0	0	0
5107	-1.16	-146.6	397.6	-10.1	312	5111	0.00	2.30	0.00	0.000	4	0.000	0.092	1585	3694	2581	0	0	0	0	0	0
5168	-1.16	-146.6	404.3	-10.9	314	5172	0.00	2.20	0.00	0.000	6	0.000	0.079	1585	2292	2581	0	0	0	0	0	0
5503	-1.16	-146.6	436.2	-9.7	325	5507	0.00	2.33	0.00	0.000	4	0.000	0.094	1585	3689	2580	0	0	0	0	0	0
5619	-1.14	-146.6	449.4	-10.9	328	5624	0.00	2.22	0.00	0.000	6	0.000	0.077	1584	2302	2579	0	0	0	0	0	0
5937	-1.12	-146.6	485.4	-11.6	339	5939	0.10	0.00	0.00	0.000	6	0.156	0.000	1605	2300	2577	0	0	0	0	0	0
6243	-1.12	-146.6	516.9	-9.9	349	6247	0.00	2.35	0.00	0.000	4	0.000	0.099	1605	3689	2576	0	0	1	0	0	0
6290	-1.12	-146.6	522.3	-10.8	350	6295	0.00	2.25	0.00	0.000	6	0.000	0.082	1605	2296	2576	0	0	0	0	0	0
6612	-1.12	-146.6	552.3	-9.1	361	6616	0.00	2.35	0.00	0.000	4	0.000	0.099	1605	3690	2576	0	0	0	0	0	0
6710	-1.12	-146.6	561.9	-8.9	364	6715	0.00	2.25	0.00	0.000	6	0.000	0.084	1605	2304	2575	0	0	0	0	0	0
7046	-1.12	-146.6	595.9	-10.7	375	7050	0.00	2.30	0.00	0.000	4	0.000	0.092	1605	897	2574	0	0	0	0	0	0
7077	-1.12	-146.6	599.5	-11.4	376	7083	0.00	2.28	0.00	0.000	6	0.000	0.084	1605	2285	2574	0	0	1	0	0	0
7413	-1.12	-146.6	636.5	-10.4	387	7417	0.00	2.40	0.00	0.000	4	0.000	0.104	1606	3710	2573	0	0	0	0	0	0
7546	-1.12	-146.6	650.5	-9.6	391	7551	0.00	2.30	0.00	0.000	6	0.000	0.077	1605	2302	2571	0	0	0	0	0	0
7882	-1.12	-146.6	689.5	-11.9	402	7886	0.00	2.40	0.00	0.000	4	0.000	0.104	1605	3712	2570	0	0	0	0	0	0
7930	-1.12	-146.6	695.6	-12.2	403	7934	0.00	2.33	0.00	0.000	6	0.000	0.079	1605	2300	2570	0	0	0	0	0	0
8255	-1.12	-146.6	731.9	-11.3	414	8256	0.00	0.00	0.00	0.000	6	0.000	0.000	1605	2293	2568	0	0	0	0	0	0
8561	-1.12	-146.6	768.1	-11.7	424	8565	0.00	2.47	0.00	0.000	4	0.000	0.117	1605	3711	2567	0	0	0	0	0	0
9239	-1.29	-146.6	775.3	0.3	444	9244	0.12	2.35	0.00	0.000	6	0.072	0.084	1560	2304	2564	0	0	0	0	0	0
9322	end dive: NO_VERTICAL_VELOCITY
state	9322	begin apogee
9326	-0.31	0.0	775.4	0.0	447	9433	0.95	0.00	103.85	1.331	6	0.089	0.000	1786	1945	2082	0	0	0	0	0	0
9434	end apogee: CONTROL_FINISHED_OK
state	9434	begin climb
9435	1.20	146.6	775.2	0.0	450	9548	1.42	0.00	108.62	1.304	6	0.094	0.000	2110	1945	1585	0	0	0	0	0	0
9840	1.67	360.7	774.9	0.2	464	10011	0.43	2.65	162.30	1.304	4	0.070	0.119	2229	3351	859	0	0	1	0	0	0
10083	1.59	360.7	760.2	13.8	471	10091	0.12	2.45	0.00	0.000	6	0.134	0.092	2201	1951	857	0	0	1	0	0	0
10396	1.55	360.7	724.2	11.7	482	10401	0.00	2.45	0.00	0.000	4	0.000	0.112	2201	539	857	0	0	0	0	0	0
10642	1.49	360.7	693.4	12.5	489	10647	0.10	2.38	0.00	0.000	6	0.127	0.092	2176	1946	856	0	0	1	0	0	0
10965	1.49	360.7	658.9	10.6	500	10969	0.00	2.42	0.00	0.000	4	0.000	0.112	2175	536	855	0	0	0	0	0	0
11130	1.46	360.7	640.8	11.2	505	11134	0.00	2.35	0.00	0.000	6	0.000	0.092	2175	1953	856	0	0	1	0	0	0
11464	1.46	360.7	602.8	11.4	516	11468	0.00	2.42	0.00	0.000	4	0.000	0.112	2176	3357	856	0	0	0	0	0	0
11495	1.43	360.7	598.7	11.8	517	11500	0.00	2.38	0.00	0.000	6	0.000	0.089	2175	1948	854	0	0	1	0	0	0
11831	1.41	360.7	561.1	11.2	528	11835	0.00	2.38	0.00	0.000	4	0.000	0.107	2175	537	854	0	0	0	0	0	0
12020	1.36	360.7	537.4	13.2	533	12028	0.10	2.35	0.00	0.000	6	0.124	0.097	2150	1950	854	0	0	1	0	0	0
12333	1.36	360.7	503.2	10.9	544	12337	0.00	2.38	0.00	0.000	4	0.000	0.107	2150	3356	854	0	0	0	0	0	0
12353	1.36	360.7	500.7	10.9	544	12361	0.00	2.35	0.00	0.000	6	0.000	0.084	2150	1951	852	0	0	0	0	0	0
12666	1.36	360.7	466.0	11.1	555	12670	0.00	2.38	0.00	0.000	4	0.000	0.102	2149	538	852	0	0	0	0	0	0
12776	1.36	360.7	452.7	12.2	558	12781	0.00	2.33	0.00	0.000	6	0.000	0.084	2149	1949	852	0	0	1	0	0	0
13100	1.36	360.7	414.4	12.2	569	13104	0.00	2.35	0.00	0.000	4	0.000	0.099	2149	541	852	0	0	0	0	0	0
13196	1.34	360.7	402.3	11.5	572	13200	0.00	2.25	0.00	0.000	6	0.000	0.082	2149	1953	852	0	0	1	0	0	0
13530	1.34	360.7	361.4	11.9	583	13535	0.00	2.38	0.00	0.000	4	0.000	0.097	2149	538	852	0	0	0	0	0	0
13570	1.32	360.7	356.1	12.9	584	13574	0.00	2.25	0.00	0.000	6	0.000	0.077	2149	1958	852	0	0	1	0	0	0
13892	1.32	360.7	312.4	14.0	595	13893	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	1958	852	0	0	0	0	0	0
14211	1.29	360.7	266.7	14.3	609	14215	0.00	2.35	0.00	0.000	4	0.000	0.094	2149	535	852	0	0	0	0	0	0
14318	1.26	360.7	250.2	15.2	614	14323	0.12	2.25	0.00	0.000	6	0.154	0.074	2124	1953	852	0	0	1	0	0	0
14643	1.26	360.7	207.4	12.9	630	14648	0.00	2.33	0.00	0.000	4	0.000	0.092	2124	538	852	0	0	0	0	0	0
14750	1.26	360.7	192.7	13.3	635	14754	0.00	2.22	0.00	0.000	6	0.000	0.072	2124	1952	852	0	0	0	0	0	0
15082	1.26	360.7	148.9	13.4	651	15086	0.00	2.30	0.00	0.000	4	0.000	0.092	2124	3357	852	0	0	0	0	0	0
15133	1.26	360.7	142.4	14.5	655	15137	0.00	2.22	0.00	0.000	6	0.000	0.072	2124	1939	852	0	0	0	0	0	0
15457	1.26	360.7	98.9	13.2	685	15461	0.00	2.25	0.00	0.000	4	0.000	0.087	2124	546	852	0	0	0	0	0	0
15475	1.26	360.7	96.6	14.3	686	15479	0.00	2.20	0.00	0.000	6	0.000	0.067	2124	1955	852	0	0	0	0	0	0
15799	1.26	360.7	60.2	11.4	716	15803	0.00	2.30	0.00	0.000	4	0.000	0.087	2124	542	853	0	0	0	0	0	0
15962	1.26	360.7	41.4	10.0	730	15966	0.00	2.17	0.00	0.000	6	0.000	0.065	2124	1964	852	0	0	0	0	0	0
16286	1.28	360.7	11.9	10.1	760	16290	0.00	2.22	0.00	0.000	4	0.000	0.092	2124	3343	853	0	0	0	0	0	0
16369	end climb: SURFACE_DEPTH_REACHED
state	16369	begin surface coast
16403	end surface coast: CONTROL_FINISHED_OK
state	16404	begin surface