Glider dive log

RapidMocha Sep10 * SG033 * Dive index * Mission links * Dive 7 * 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 7 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 990 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 31 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 70 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 440 CALL_WAIT 60 VBD_CNV -0.29522699 DEVICE5 -1

T_MISSION 470 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 -237149.02 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 ALTIM_TOP_PING_RANGE 20

HD_B 0.011392 PITCH_ADJ_DBAND 0 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 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 990 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 440

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 -237149.02

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

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 470

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 31 VBD_MAX 3959

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 70 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 7 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 050910,012835,1832.784,-6603.712,13,2.8,32,-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 0.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050910,013307,1832.773,-6603.687,11,1.4,16,-12.7 MHEAD_RNG_PITCHd_Wd 60.0,8808,-15.4,-7.500

SPEED_LIMITS 0.075,0.224 D_GRID 541

Post-dive calculations and measurements:

FINISH -0.2,1.009102 _24V_AH 24.7,42.663

SM_CCo 12182,99.18,0.735,0,0,389,500.11 _10V_AH 10.4,15.164

SM_GC 0.97,0.00,0.00,99.18,0.000,0.000,0.735,20,1886,389,-8.35,-0.40,500.11 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1828.22,-6604.79,040910,222250 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721 MEM 327856

HUMID 51.49 DATA_FILE_SIZE 36907,649

INTERNAL_PRESSURE 8.12531 CAP_FILE_SIZE 125458,0

TCM_TEMP 24.60 CFSIZE 260280320,250089472

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

ALTIM_TOP_PING 19.9,18.9 GPS 050910,045937,1833.089,-6601.113,29,1.4,29,-12.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 196 92.18 SBE_CT 434 24 257.82

Roll_motor 137 106 361.82 nil 0 0 0.00

VBD_pump_during_apogee 361 1134 10136.97 AA4330 987 33 804.86

VBD_pump_during_surface 99 734 1800.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 69.94 nil 0 0 0.00

Iridium_during_connect 33 160 133.51 nil 0 0 0.00

Iridium_during_xfer 128 223 705.35 nil 0 0 0.00

Transponder_ping 17 420 181.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.10

TT8 1769 19 364.42

LPSleep 8167 2 186.01

TT8_Active 587 19 121.04

TT8_Sampling 1958 39 810.79

TT8_CF8 101 45 48.48

TT8_Kalman 0 0 0.00

Analog_circuits 1501 12 187.35

GPS_charging 0 0 0.00

Compass 1600 15 249.67

RAFOS 0 0 0.00

Transponder 118 30 36.84

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -1.14 -146.6 0.0 0.0 0 126 0.00 0.00 -108.90 0.000 2 0.000 0.000 18 1937 2028 0 0 0 0 0 0

128 -1.14 -146.6 3.5 -5.6 10 160 8.30 0.00 -21.10 0.000 6 0.196 0.000 1581 1938 2580 0 0 0 0 0 0

473 -1.14 -146.6 40.3 -11.0 43 478 0.00 2.42 0.00 0.000 4 0.000 0.077 1581 3275 2581 0 0 0 0 0 0

548 -1.14 -146.6 48.0 -10.6 49 552 0.00 2.45 0.00 0.000 6 0.000 0.067 1581 1893 2580 0 0 0 0 0 0

872 -1.14 -146.6 75.5 -6.9 79 877 0.00 2.53 0.00 0.000 4 0.000 0.079 1581 496 2582 0 0 0 0 0 0

1013 -1.14 -146.6 84.3 -6.0 91 1017 0.00 2.38 0.00 0.000 6 0.000 0.065 1581 1866 2582 0 0 0 0 0 0

1338 -1.14 -146.6 105.5 -7.1 121 1339 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 1867 2583 0 0 0 0 0 0

1657 -1.14 -146.6 126.8 -5.5 151 1661 0.00 2.62 0.00 0.000 4 0.000 0.082 1581 3303 2584 0 0 0 0 0 0

2003 -1.14 -146.6 149.5 -5.2 181 2011 0.00 2.55 0.00 0.000 6 0.000 0.070 1581 1903 2584 0 0 0 0 0 0

2330 -1.14 -146.6 168.2 -5.9 198 2334 0.00 2.55 0.00 0.000 4 0.000 0.084 1581 493 2584 0 0 0 0 0 0

2406 -1.14 -146.6 173.6 -6.8 201 2414 0.00 2.53 0.00 0.000 6 0.000 0.067 1581 1893 2584 0 0 0 0 0 0

2723 -1.14 -146.6 197.4 -7.0 217 2727 0.00 2.60 0.00 0.000 4 0.000 0.087 1581 3308 2583 0 0 0 0 0 0

2895 -1.14 -146.6 209.9 -6.7 225 2902 0.00 2.53 0.00 0.000 6 0.000 0.072 1581 1906 2583 0 0 0 0 0 0

3231 -1.14 -146.6 236.2 -7.2 241 3235 0.00 2.60 0.00 0.000 4 0.000 0.087 1581 493 2583 0 0 0 0 0 0

3360 -1.14 -146.6 245.5 -7.2 247 3365 0.00 2.53 0.00 0.000 6 0.000 0.072 1581 1903 2584 0 0 0 0 0 0

3686 -1.14 -146.6 269.6 -8.0 263 3691 0.00 2.62 0.00 0.000 4 0.000 0.092 1581 3308 2582 0 0 0 0 0 0

3822 -1.14 -146.6 280.6 -8.1 269 3827 0.00 2.58 0.00 0.000 6 0.000 0.077 1581 1899 2582 0 0 0 0 0 0

4157 -1.14 -146.6 307.7 -8.4 284 4162 0.00 2.70 0.00 0.000 4 0.000 0.092 1581 3309 2581 0 0 0 0 0 0

4246 -1.14 -146.6 315.3 -7.4 286 4253 0.00 2.60 0.00 0.000 6 0.000 0.077 1581 1900 2581 0 0 0 0 0 0

4558 -1.14 -146.6 342.8 -9.1 297 4562 0.00 2.62 0.00 0.000 4 0.000 0.089 1581 486 2580 0 0 0 0 0 0

4618 -1.14 -146.6 348.8 -9.5 299 4623 0.00 2.58 0.00 0.000 6 0.000 0.074 1581 1901 2580 0 0 0 0 0 0

4952 -1.14 -146.6 378.4 -8.9 310 4956 0.00 2.67 0.00 0.000 4 0.000 0.097 1581 3311 2579 0 0 0 0 0 0

5095 -1.14 -146.6 391.9 -9.7 314 5100 0.00 2.65 0.00 0.000 6 0.000 0.079 1581 1905 2578 0 0 0 0 0 0

5421 -1.14 -146.6 420.7 -8.7 325 5425 0.00 2.65 0.00 0.000 4 0.000 0.092 1581 490 2577 0 0 0 0 0 0

5474 -1.14 -146.6 425.8 -9.7 326 5483 0.00 2.62 0.00 0.000 6 0.000 0.077 1581 1892 2577 0 0 0 0 0 0

5789 -1.14 -146.6 452.7 -8.6 337 5793 0.00 2.75 0.00 0.000 4 0.000 0.099 1581 3309 2576 0 0 0 0 0 0

5892 -1.14 -146.6 462.1 -9.6 340 5897 0.00 2.67 0.00 0.000 6 0.000 0.082 1581 1903 2575 0 0 0 0 0 0

6222 -1.14 -146.6 488.5 -7.7 351 6227 0.00 2.78 0.00 0.000 4 0.000 0.102 1581 3312 2574 0 0 0 0 0 0

6276 -1.14 -146.6 493.1 -8.7 352 6284 0.00 2.72 0.00 0.000 6 0.000 0.084 1581 1896 2574 0 0 0 0 0 0

6592 -1.14 -146.6 521.5 -9.4 363 6596 0.00 2.78 0.00 0.000 4 0.000 0.102 1581 3310 2573 0 0 0 0 0 0

6668 -1.14 -146.6 529.2 -9.1 365 6672 0.00 2.72 0.00 0.000 6 0.000 0.084 1581 1900 2572 0 0 0 0 0 0

6808 end dive: TARGET_DEPTH_EXCEEDED

state 6808 begin apogee

6812 -0.31 0.0 541.6 8.8 370 6919 0.80 0.00 100.78 1.135 6 0.114 0.000 1763 1741 2082 0 0 0 0 0 0

6920 end apogee: CONTROL_FINISHED_OK

state 6920 begin climb

6921 1.14 146.6 544.0 0.0 373 7033 1.35 2.88 103.25 1.120 4 0.092 0.107 2082 341 1585 0 0 0 0 0 0

7189 1.35 320.9 544.4 1.5 381 7328 0.15 2.70 126.50 1.110 6 0.072 0.082 2134 1759 994 0 0 0 0 0 0

7631 1.35 320.9 502.9 10.4 396 7635 0.00 2.70 0.00 0.000 4 0.000 0.107 2134 3148 993 0 0 0 0 0 0

7651 1.35 320.9 500.5 10.2 396 7659 0.00 2.70 0.00 0.000 6 0.000 0.089 2133 1756 992 0 0 0 0 0 0

7964 1.35 320.9 470.8 11.1 407 7968 0.00 2.72 0.00 0.000 4 0.000 0.104 2134 334 992 0 0 0 0 0 0

8096 1.35 320.9 454.3 12.3 411 8101 0.00 2.67 0.00 0.000 6 0.000 0.084 2134 1739 992 0 0 0 0 0 0

8432 1.35 320.9 423.1 9.1 422 8436 0.00 2.72 0.00 0.000 4 0.000 0.102 2133 331 992 0 0 0 0 0 0

8474 1.35 320.9 418.8 9.4 423 8479 0.00 2.70 0.00 0.000 6 0.000 0.084 2133 1750 989 0 0 0 0 0 0

8799 1.35 320.9 384.6 11.5 434 8803 0.00 2.72 0.00 0.000 4 0.000 0.099 2134 335 989 0 0 0 0 0 0

8995 1.35 320.9 360.4 11.8 440 8999 0.00 2.65 0.00 0.000 6 0.000 0.082 2134 1751 989 0 0 0 0 0 0

9328 1.35 320.9 319.5 12.8 451 9333 0.00 2.72 0.00 0.000 4 0.000 0.099 2134 336 989 0 0 0 0 0 0

9410 1.35 320.9 307.3 14.9 453 9415 0.00 2.65 0.00 0.000 6 0.000 0.079 2134 1745 989 0 0 0 0 0 0

9731 1.35 320.9 268.0 12.1 468 9736 0.00 2.72 0.00 0.000 4 0.000 0.097 2134 331 989 0 0 0 0 0 0

9847 1.35 320.9 251.9 13.4 473 9852 0.00 2.65 0.00 0.000 6 0.000 0.074 2134 1748 989 0 0 0 0 0 0

10171 1.35 320.9 212.1 12.0 489 10175 0.00 2.70 0.00 0.000 4 0.000 0.094 2133 331 989 0 0 0 0 0 0

10258 1.35 320.9 200.7 13.1 493 10263 0.00 2.65 0.00 0.000 6 0.000 0.074 2134 1752 989 0 0 0 0 0 0

10587 1.35 320.9 162.1 12.4 509 10588 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 1756 989 0 0 0 0 0 0

10901 1.35 320.9 122.5 12.4 534 10906 0.00 2.67 0.00 0.000 4 0.000 0.089 2134 332 989 0 0 0 0 0 0

11008 1.35 320.9 109.1 12.0 543 11013 0.00 2.58 0.00 0.000 6 0.000 0.070 2134 1756 989 0 0 0 0 0 0

11332 1.35 320.9 71.3 10.9 573 11337 0.00 2.60 0.00 0.000 4 0.000 0.084 2134 3157 989 0 0 0 0 0 0

11342 1.35 320.9 70.2 9.6 573 11349 0.00 2.60 0.00 0.000 6 0.000 0.074 2134 1740 989 0 0 0 0 0 0

11667 1.41 363.4 44.0 6.0 604 11703 0.00 2.62 31.15 0.772 4 0.000 0.084 2134 3159 851 0 0 1 0 0 0

11708 1.41 363.4 41.2 7.7 607 11716 0.00 2.62 0.00 0.000 6 0.000 0.072 2134 1745 850 0 0 0 0 0 0

12033 1.41 363.4 10.8 9.4 638 12037 0.00 2.60 0.00 0.000 4 0.000 0.077 2134 3157 850 0 0 0 0 0 0

12108 end climb: SURFACE_DEPTH_REACHED

state 12108 begin surface coast

12165 end surface coast: CONTROL_FINISHED_OK

state 12165 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	7	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	990	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	31	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	70	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	440	CALL_WAIT	60	VBD_CNV	-0.29522699	DEVICE5	-1
T_MISSION	470	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	-237149.02	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	ALTIM_TOP_PING_RANGE	20
HD_B	0.011392	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	1.0709e-05	ROLL_MIN	60	ALTIM_TOP_TURN_MARGIN	0

GPS1	050910,012835,1832.784,-6603.712,13,2.8,32,-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	0.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050910,013307,1832.773,-6603.687,11,1.4,16,-12.7	MHEAD_RNG_PITCHd_Wd	60.0,8808,-15.4,-7.500
SPEED_LIMITS	0.075,0.224	D_GRID	541

FINISH	-0.2,1.009102	_24V_AH	24.7,42.663
SM_CCo	12182,99.18,0.735,0,0,389,500.11	_10V_AH	10.4,15.164
SM_GC	0.97,0.00,0.00,99.18,0.000,0.000,0.735,20,1886,389,-8.35,-0.40,500.11	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1828.22,-6604.79,040910,222250	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721	MEM	327856
HUMID	51.49	DATA_FILE_SIZE	36907,649
INTERNAL_PRESSURE	8.12531	CAP_FILE_SIZE	125458,0
TCM_TEMP	24.60	CFSIZE	260280320,250089472
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
ALTIM_TOP_PING	19.9,18.9	GPS	050910,045937,1833.089,-6601.113,29,1.4,29,-12.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	196	92.18	SBE_CT	434	24	257.82
Roll_motor	137	106	361.82	nil	0	0	0.00
VBD_pump_during_apogee	361	1134	10136.97	AA4330	987	33	804.86
VBD_pump_during_surface	99	734	1800.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	69.94	nil	0	0	0.00
Iridium_during_connect	33	160	133.51	nil	0	0	0.00
Iridium_during_xfer	128	223	705.35	nil	0	0	0.00
Transponder_ping	17	420	181.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.10
TT8	1769	19	364.42
LPSleep	8167	2	186.01
TT8_Active	587	19	121.04
TT8_Sampling	1958	39	810.79
TT8_CF8	101	45	48.48
TT8_Kalman	0	0	0.00
Analog_circuits	1501	12	187.35
GPS_charging	0	0	0.00
Compass	1600	15	249.67
RAFOS	0	0	0.00
Transponder	118	30	36.84

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-1.14	-146.6	0.0	0.0	0	126	0.00	0.00	-108.90	0.000	2	0.000	0.000	18	1937	2028	0	0	0	0	0	0
128	-1.14	-146.6	3.5	-5.6	10	160	8.30	0.00	-21.10	0.000	6	0.196	0.000	1581	1938	2580	0	0	0	0	0	0
473	-1.14	-146.6	40.3	-11.0	43	478	0.00	2.42	0.00	0.000	4	0.000	0.077	1581	3275	2581	0	0	0	0	0	0
548	-1.14	-146.6	48.0	-10.6	49	552	0.00	2.45	0.00	0.000	6	0.000	0.067	1581	1893	2580	0	0	0	0	0	0
872	-1.14	-146.6	75.5	-6.9	79	877	0.00	2.53	0.00	0.000	4	0.000	0.079	1581	496	2582	0	0	0	0	0	0
1013	-1.14	-146.6	84.3	-6.0	91	1017	0.00	2.38	0.00	0.000	6	0.000	0.065	1581	1866	2582	0	0	0	0	0	0
1338	-1.14	-146.6	105.5	-7.1	121	1339	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	1867	2583	0	0	0	0	0	0
1657	-1.14	-146.6	126.8	-5.5	151	1661	0.00	2.62	0.00	0.000	4	0.000	0.082	1581	3303	2584	0	0	0	0	0	0
2003	-1.14	-146.6	149.5	-5.2	181	2011	0.00	2.55	0.00	0.000	6	0.000	0.070	1581	1903	2584	0	0	0	0	0	0
2330	-1.14	-146.6	168.2	-5.9	198	2334	0.00	2.55	0.00	0.000	4	0.000	0.084	1581	493	2584	0	0	0	0	0	0
2406	-1.14	-146.6	173.6	-6.8	201	2414	0.00	2.53	0.00	0.000	6	0.000	0.067	1581	1893	2584	0	0	0	0	0	0
2723	-1.14	-146.6	197.4	-7.0	217	2727	0.00	2.60	0.00	0.000	4	0.000	0.087	1581	3308	2583	0	0	0	0	0	0
2895	-1.14	-146.6	209.9	-6.7	225	2902	0.00	2.53	0.00	0.000	6	0.000	0.072	1581	1906	2583	0	0	0	0	0	0
3231	-1.14	-146.6	236.2	-7.2	241	3235	0.00	2.60	0.00	0.000	4	0.000	0.087	1581	493	2583	0	0	0	0	0	0
3360	-1.14	-146.6	245.5	-7.2	247	3365	0.00	2.53	0.00	0.000	6	0.000	0.072	1581	1903	2584	0	0	0	0	0	0
3686	-1.14	-146.6	269.6	-8.0	263	3691	0.00	2.62	0.00	0.000	4	0.000	0.092	1581	3308	2582	0	0	0	0	0	0
3822	-1.14	-146.6	280.6	-8.1	269	3827	0.00	2.58	0.00	0.000	6	0.000	0.077	1581	1899	2582	0	0	0	0	0	0
4157	-1.14	-146.6	307.7	-8.4	284	4162	0.00	2.70	0.00	0.000	4	0.000	0.092	1581	3309	2581	0	0	0	0	0	0
4246	-1.14	-146.6	315.3	-7.4	286	4253	0.00	2.60	0.00	0.000	6	0.000	0.077	1581	1900	2581	0	0	0	0	0	0
4558	-1.14	-146.6	342.8	-9.1	297	4562	0.00	2.62	0.00	0.000	4	0.000	0.089	1581	486	2580	0	0	0	0	0	0
4618	-1.14	-146.6	348.8	-9.5	299	4623	0.00	2.58	0.00	0.000	6	0.000	0.074	1581	1901	2580	0	0	0	0	0	0
4952	-1.14	-146.6	378.4	-8.9	310	4956	0.00	2.67	0.00	0.000	4	0.000	0.097	1581	3311	2579	0	0	0	0	0	0
5095	-1.14	-146.6	391.9	-9.7	314	5100	0.00	2.65	0.00	0.000	6	0.000	0.079	1581	1905	2578	0	0	0	0	0	0
5421	-1.14	-146.6	420.7	-8.7	325	5425	0.00	2.65	0.00	0.000	4	0.000	0.092	1581	490	2577	0	0	0	0	0	0
5474	-1.14	-146.6	425.8	-9.7	326	5483	0.00	2.62	0.00	0.000	6	0.000	0.077	1581	1892	2577	0	0	0	0	0	0
5789	-1.14	-146.6	452.7	-8.6	337	5793	0.00	2.75	0.00	0.000	4	0.000	0.099	1581	3309	2576	0	0	0	0	0	0
5892	-1.14	-146.6	462.1	-9.6	340	5897	0.00	2.67	0.00	0.000	6	0.000	0.082	1581	1903	2575	0	0	0	0	0	0
6222	-1.14	-146.6	488.5	-7.7	351	6227	0.00	2.78	0.00	0.000	4	0.000	0.102	1581	3312	2574	0	0	0	0	0	0
6276	-1.14	-146.6	493.1	-8.7	352	6284	0.00	2.72	0.00	0.000	6	0.000	0.084	1581	1896	2574	0	0	0	0	0	0
6592	-1.14	-146.6	521.5	-9.4	363	6596	0.00	2.78	0.00	0.000	4	0.000	0.102	1581	3310	2573	0	0	0	0	0	0
6668	-1.14	-146.6	529.2	-9.1	365	6672	0.00	2.72	0.00	0.000	6	0.000	0.084	1581	1900	2572	0	0	0	0	0	0
6808	end dive: TARGET_DEPTH_EXCEEDED
state	6808	begin apogee
6812	-0.31	0.0	541.6	8.8	370	6919	0.80	0.00	100.78	1.135	6	0.114	0.000	1763	1741	2082	0	0	0	0	0	0
6920	end apogee: CONTROL_FINISHED_OK
state	6920	begin climb
6921	1.14	146.6	544.0	0.0	373	7033	1.35	2.88	103.25	1.120	4	0.092	0.107	2082	341	1585	0	0	0	0	0	0
7189	1.35	320.9	544.4	1.5	381	7328	0.15	2.70	126.50	1.110	6	0.072	0.082	2134	1759	994	0	0	0	0	0	0
7631	1.35	320.9	502.9	10.4	396	7635	0.00	2.70	0.00	0.000	4	0.000	0.107	2134	3148	993	0	0	0	0	0	0
7651	1.35	320.9	500.5	10.2	396	7659	0.00	2.70	0.00	0.000	6	0.000	0.089	2133	1756	992	0	0	0	0	0	0
7964	1.35	320.9	470.8	11.1	407	7968	0.00	2.72	0.00	0.000	4	0.000	0.104	2134	334	992	0	0	0	0	0	0
8096	1.35	320.9	454.3	12.3	411	8101	0.00	2.67	0.00	0.000	6	0.000	0.084	2134	1739	992	0	0	0	0	0	0
8432	1.35	320.9	423.1	9.1	422	8436	0.00	2.72	0.00	0.000	4	0.000	0.102	2133	331	992	0	0	0	0	0	0
8474	1.35	320.9	418.8	9.4	423	8479	0.00	2.70	0.00	0.000	6	0.000	0.084	2133	1750	989	0	0	0	0	0	0
8799	1.35	320.9	384.6	11.5	434	8803	0.00	2.72	0.00	0.000	4	0.000	0.099	2134	335	989	0	0	0	0	0	0
8995	1.35	320.9	360.4	11.8	440	8999	0.00	2.65	0.00	0.000	6	0.000	0.082	2134	1751	989	0	0	0	0	0	0
9328	1.35	320.9	319.5	12.8	451	9333	0.00	2.72	0.00	0.000	4	0.000	0.099	2134	336	989	0	0	0	0	0	0
9410	1.35	320.9	307.3	14.9	453	9415	0.00	2.65	0.00	0.000	6	0.000	0.079	2134	1745	989	0	0	0	0	0	0
9731	1.35	320.9	268.0	12.1	468	9736	0.00	2.72	0.00	0.000	4	0.000	0.097	2134	331	989	0	0	0	0	0	0
9847	1.35	320.9	251.9	13.4	473	9852	0.00	2.65	0.00	0.000	6	0.000	0.074	2134	1748	989	0	0	0	0	0	0
10171	1.35	320.9	212.1	12.0	489	10175	0.00	2.70	0.00	0.000	4	0.000	0.094	2133	331	989	0	0	0	0	0	0
10258	1.35	320.9	200.7	13.1	493	10263	0.00	2.65	0.00	0.000	6	0.000	0.074	2134	1752	989	0	0	0	0	0	0
10587	1.35	320.9	162.1	12.4	509	10588	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	1756	989	0	0	0	0	0	0
10901	1.35	320.9	122.5	12.4	534	10906	0.00	2.67	0.00	0.000	4	0.000	0.089	2134	332	989	0	0	0	0	0	0
11008	1.35	320.9	109.1	12.0	543	11013	0.00	2.58	0.00	0.000	6	0.000	0.070	2134	1756	989	0	0	0	0	0	0
11332	1.35	320.9	71.3	10.9	573	11337	0.00	2.60	0.00	0.000	4	0.000	0.084	2134	3157	989	0	0	0	0	0	0
11342	1.35	320.9	70.2	9.6	573	11349	0.00	2.60	0.00	0.000	6	0.000	0.074	2134	1740	989	0	0	0	0	0	0
11667	1.41	363.4	44.0	6.0	604	11703	0.00	2.62	31.15	0.772	4	0.000	0.084	2134	3159	851	0	0	1	0	0	0
11708	1.41	363.4	41.2	7.7	607	11716	0.00	2.62	0.00	0.000	6	0.000	0.072	2134	1745	850	0	0	0	0	0	0
12033	1.41	363.4	10.8	9.4	638	12037	0.00	2.60	0.00	0.000	4	0.000	0.077	2134	3157	850	0	0	0	0	0	0
12108	end climb: SURFACE_DEPTH_REACHED
state	12108	begin surface coast
12165	end surface coast: CONTROL_FINISHED_OK
state	12165	begin surface