Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 183 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 HD_C 5.8987e-05 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 11 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 183 ESCAPE_HEADING 0 ROLL_MAX 3750 ALTIM_PING_DELTA 10

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2069 ALTIM_PULSE 3

D_TGT 95 TGT_DEFAULT_LAT 47.599998 C_ROLL_CLIMB 2069 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_DEFAULT_LON -122.3 HEAD_ERRBAND 10 XPDR_VALID 0

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_BOOST 0 SM_CC 300 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 2 INT_PRESSURE_YINT 0

D_PITCH 0 FILEMGR 0 R_STBD_OVSHOOT 1 DEEPGLIDER 0

D_SAFE 0 CALL_NDIVES 1 ROLL_AD_RATE 400 DEEPGLIDERMB 0

D_CALL 0 COMM_SEQ 0 ROLL_MAXERRORS 10 MOTHERBOARD 4

SURFACE_URGENCY 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MIN 188 DEVICE3 -1

T_DIVE 63 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 C_VBD 2473 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_DBAND 2 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 VBD_CNV -0.24529999 SMARTS 1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_TIMEOUT 360 SMARTDEVICE1 3

T_NO_W 120 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE2 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_BATHY -4 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS2_DEVICE -1

USE_ICE 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 T_GPS_CHARGE -28909.227 UNCOM_BLEED 20 GPS_DEVICE 48

D_OFFGRID 100 T_RSLEEP 3 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 XPDR_DEVICE -1

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_24V 91.800003 SIM_W 0

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 AH0_10V 61.200001 SIM_PITCH 0

MAX_BUOY 150 PITCH_MIN 30 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MAX 4065 PRESSURE_YINT -0.16054545 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 C_PITCH 2692 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 PITCH_DBAND 0.1 AD7714Ch0Gain 1 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.331019

MASS 52000 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763502

NAV_MODE 1 PITCH_GAIN 16 COMPASS_USE 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0 AR_RESETARS 0.0

HD_A 0.0043390002 PITCH_MAXERRORS 10 ALTIM_BOTTOM_TURN_MARGIN 0 AR_RECORDBELOW 0.0

HD_B 0.013382 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 AR_NOTIFYAPOGEE 0.0

AD7714Ch0Gain 1 D_ABORT 1090 PITCH_ADJ_DBAND 0 SMARTDEVICE1 3

AH0_10V 61.200001 D_BOOST 0 PITCH_ADJ_GAIN 0 SMARTDEVICE2 -1

AH0_24V 91.800003 D_CALL 0 PITCH_AD_RATE 175 SMARTS 1

ALTIM_BOTTOM_PING_RANGE 25 D_FINISH 0 PITCH_CNV 0.0046000001 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_NO_BLEED 200 PITCH_GAIN 16 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_OFFGRID 100 PITCH_MAX 4065 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_PITCH 0 PITCH_MAXERRORS 10 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 D_SAFE 0 PITCH_MIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 D_SURF 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -0.16054545 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 FERRY_MAX 45 P_OVSHOOT 0.039999999 T_ABORT 1440

AR_NOTIFYAPOGEE 0.0 FILEMGR 0 RAFOS_CORR_THRESH 60 T_DIVE 63

AR_RECORDBELOW 0.0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_GPS 15

AR_RESETARS 0.0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -28909.227

CALL_TRIES 5 HD_A 0.0043390002 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.013382 RHO 1.023 T_MISSION 75

CAPMAXSIZE 100000 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_NO_W 120

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_GAIN 0 T_RSLEEP 3

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_AD_RATE 400 T_TURN 270

COMM_SEQ 0 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_DEVICE 1 ID 80 ROLL_MAX 3750 UNCOM_BLEED 20

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 10 UPLOAD_DIVES_MAX -1

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MIN 300 USE_BATHY -4

C_PITCH 2692 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_CLIMB 2069 KERMIT 0 R_PORT_OVSHOOT 2 VBD_BLEED_AD_RATE 8

C_ROLL_DIVE 2069 MASS 52000 R_STBD_OVSHOOT 1 VBD_CNV -0.24529999

C_VBD 2473 MAX_BUOY 150 SEABIRD_C_G -10.331019 VBD_DBAND 2

DEEPGLIDER 0 MISSION 11 SEABIRD_C_H 1.1763502 VBD_MAX 3616

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_I -0.0012340198 VBD_MAXERRORS 1

DEVICE1 2 NAV_MODE 1 SEABIRD_C_J 0.00017379176 VBD_MIN 188

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_G 0.0043805656 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE3 -1 N_GPS 20 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_I 2.5554549e-05 VBD_TIMEOUT 360

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_J 2.6681391e-06 XPDR_DEVICE -1

DEVICE6 -1 PHONE_DEVICE 32 SIM_PITCH 0 XPDR_INHIBIT 90

DIVE 183 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 121448,4806.604,-12222.373,23,1.1,23,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.063,-0.144

_SM_DEPTHo 0.00 KALMAN_X 17389.0,67.3,149.1,-16021.5,19.2

_SM_ANGLEo -50.0 KALMAN_Y -1099.2,114.2,-161.7,-1261.4,125.6

GPS2 122141,4806.416,-12222.313,27,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 138.3,3085,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.8,0.997030 _24V_AH 23.8,19.678

SM_CCo 3802,131.93,0.004,17,0,1250,300.00 _10V_AH 9.7,39.121

SM_GC 0.00,0.00,0.00,131.93,0.000,0.000,0.004,144,1957,1250,-11.71,-3.08,300.00 DATA_FILE_SIZE 9590,328

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 95878,8

TT8_MAMPS 0.048321 CFSIZE 260165632,253415424

HUMID 1660 ERRORS 0,0,0,0,0,0,0,0,1,0,0,117,135,17,0

INTERNAL_PRESSURE 12.5298 GPS 020808,133216,4806.185,-12222.006,22,1.1,22,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 47 3 4.38 SBE_CT 256 24 146.76

Roll_motor 33 3 3.08 nil 0 0 0.00

VBD_pump_during_apogee 243 4 26.71 nil 0 0 0.00

VBD_pump_during_surface 131 3 12.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 ARS 0 216 0.00

Iridium_during_xfer 82 223 438.87

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 50 13.73

TT8 717 18 125.23

LPSleep 2012 0 7.61

TT8_Active 619 18 108.18

TT8_Sampling 421 38 155.20

TT8_CF8 724 44 309.23

TT8_Kalman 33 80 25.88

Analog_circuits 1013 12 117.93

GPS_charging 0 0 0.00

Compass 332 26 83.85

RAFOS 0 0 0.00

Transponder 0 0 0.00

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

125 end surface: CONTROL_FINISHED_OK

state 125 begin dive

129 -0.84 -146.6 0.0 0.0 0 192 0.00 0.00 -60.88 0.000 6 0.000 0.000 147 1887 3078

196 -0.84 -146.6 0.6 -1.2 6 216 11.73 2.15 0.00 0.000 4 0.004 0.004 2535 545 3078

520 -0.84 -146.6 25.2 -5.2 35 526 0.30 2.90 0.00 0.000 6 0.004 0.004 2460 2220 3077

557 -0.84 -146.6 27.3 -5.8 38 560 0.43 0.00 0.00 0.000 6 0.004 0.000 2533 2221 3078

589 -0.84 -146.6 29.0 -5.1 41 591 0.30 0.00 0.00 0.000 6 0.003 0.000 2461 2220 3078

621 -0.84 -146.6 30.7 -5.3 44 623 0.30 0.00 0.00 0.000 6 0.003 0.000 2535 2219 3077

653 -0.84 -146.6 32.4 -5.4 47 655 0.30 0.00 0.00 0.000 6 0.004 0.000 2459 2218 3077

685 -0.84 -146.6 34.1 -5.4 50 687 0.30 0.00 0.00 0.000 6 0.004 0.000 2537 2218 3078

717 -0.84 -146.6 35.8 -5.2 53 719 0.30 0.00 0.00 0.000 6 0.004 0.000 2461 2220 3078

749 -0.84 -146.6 37.5 -5.5 56 751 0.30 0.00 0.00 0.000 6 0.003 0.000 2536 2220 3078

780 -0.84 -146.6 39.2 -5.4 59 782 0.30 0.00 0.00 0.000 6 0.003 0.000 2461 2219 3078

812 -0.84 -146.6 41.0 -5.4 62 818 0.32 2.90 0.00 0.000 4 0.004 0.004 2537 553 3077

992 -0.84 -146.6 50.9 -5.6 77 999 0.30 2.97 0.00 0.000 6 0.003 0.004 2459 2162 3078

1030 -0.84 -146.6 53.0 -5.8 81 1032 0.35 0.00 0.00 0.000 6 0.004 0.000 2536 2163 3079

1062 -0.84 -146.6 54.7 -5.5 84 1064 0.40 0.00 0.00 0.000 6 0.004 0.000 2459 2164 3078

1093 -0.84 -146.6 56.4 -5.4 87 1096 0.40 0.00 0.00 0.000 6 0.004 0.000 2533 2163 3079

1125 -0.84 -146.6 58.0 -5.2 90 1127 0.38 0.00 0.00 0.000 6 0.003 0.000 2460 2163 3078

1157 -0.84 -146.6 59.8 -5.3 93 1160 0.60 0.00 0.00 0.000 6 0.004 0.000 2533 2164 3078

1189 -0.84 -146.6 61.6 -5.6 96 1191 0.40 0.00 0.00 0.000 6 0.004 0.000 2453 2162 3079

1221 -0.84 -146.6 63.3 -5.2 99 1223 0.57 0.00 0.00 0.000 6 0.003 0.000 2565 2164 3077

1253 -0.84 -146.6 64.9 -5.3 102 1255 0.45 0.00 0.00 0.000 6 0.004 0.000 2461 2163 3076

1285 -0.84 -146.6 66.6 -5.2 105 1287 0.30 0.00 0.00 0.000 6 0.003 0.000 2535 2164 3077

1317 -0.84 -146.6 68.2 -5.0 108 1319 0.30 0.00 0.00 0.000 6 0.003 0.000 2459 2163 3078

1349 -0.84 -146.6 69.9 -5.4 111 1351 0.38 0.00 0.00 0.000 6 0.003 0.000 2536 2163 3078

1380 -0.84 -146.6 71.6 -5.3 114 1382 0.32 0.00 0.00 0.000 6 0.004 0.000 2496 2164 3078

1413 -0.84 -146.6 73.3 -5.3 117 1415 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2163 3078

1444 -0.84 -146.6 74.9 -5.1 120 1445 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2162 3077

1476 -0.84 -146.6 76.6 -5.4 123 1477 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2163 3077

1508 -0.84 -146.6 78.2 -5.0 126 1509 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2163 3078

1540 -0.84 -146.6 79.8 -5.0 129 1544 0.00 2.42 0.00 0.000 4 0.000 0.004 2502 3592 3078

1673 -0.84 -146.6 86.4 -4.7 140 1679 0.00 2.90 0.00 0.000 6 0.000 0.004 2498 1911 3077

1711 -0.84 -146.6 88.2 -4.9 144 1713 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1910 3078

1743 -0.84 -146.6 89.6 -4.6 147 1744 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1907 3077

1775 -0.84 -146.6 91.1 -4.9 150 1776 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1909 3078

1807 -0.84 -146.6 92.6 -4.6 153 1808 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1909 3078

1839 -0.84 -146.6 94.1 -4.5 156 1840 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1908 3077

1857 end dive: TARGET_DEPTH_EXCEEDED

state 1857 begin apogee

1864 -0.31 0.0 95.0 4.7 158 1991 0.60 0.00 122.62 0.005 6 0.004 0.000 2650 2223 2472

1992 end apogee: CONTROL_FINISHED_OK

state 1992 begin climb

1995 0.84 146.6 96.3 0.0 171 2122 1.25 0.00 121.25 0.005 6 0.004 0.000 2905 2224 1873

2153 0.84 146.6 88.7 6.2 187 2156 0.40 0.00 0.00 0.000 6 0.004 0.000 2833 2224 1875

2185 0.84 146.6 86.8 6.3 190 2187 0.43 0.00 0.00 0.000 6 0.003 0.000 2910 2224 1875

2218 0.84 146.6 84.8 6.1 193 2220 0.43 0.00 0.00 0.000 6 0.003 0.000 2834 2224 1874

2248 0.84 146.6 82.8 6.2 196 2250 0.30 0.00 0.00 0.000 6 0.003 0.000 2914 2225 1875

2280 0.84 146.6 80.9 6.2 199 2282 0.30 0.00 0.00 0.000 6 0.003 0.000 2841 2221 1874

2312 0.84 146.6 79.0 6.0 202 2317 0.28 2.53 0.00 0.000 4 0.004 0.004 2915 3670 1874

2441 0.84 146.6 71.3 6.5 213 2447 0.30 2.97 0.00 0.000 6 0.003 0.004 2840 1911 1875

2478 0.84 146.6 69.0 6.2 216 2480 0.30 0.00 0.00 0.000 6 0.004 0.000 2916 1912 1874

2510 0.84 146.6 67.1 5.8 219 2512 0.30 0.00 0.00 0.000 6 0.003 0.000 2840 1911 1874

2542 0.84 146.6 65.4 5.6 222 2544 0.35 0.00 0.00 0.000 6 0.004 0.000 2920 1910 1875

2574 0.84 146.6 63.5 5.7 225 2576 0.38 0.00 0.00 0.000 6 0.003 0.000 2845 1910 1874

2606 0.84 146.6 61.8 5.6 228 2608 0.38 0.00 0.00 0.000 6 0.004 0.000 2918 1911 1875

2637 0.84 146.6 60.1 5.4 231 2640 0.43 0.00 0.00 0.000 6 0.004 0.000 2844 1912 1874

2669 0.84 146.6 58.2 5.8 234 2671 0.28 0.00 0.00 0.000 6 0.003 0.000 2921 1912 1875

2701 0.84 146.6 56.4 5.7 237 2704 0.35 0.00 0.00 0.000 6 0.004 0.000 2843 1911 1874

2733 0.84 146.6 54.6 5.4 240 2735 0.43 0.00 0.00 0.000 6 0.003 0.000 2921 1911 1875

2765 0.84 146.6 52.8 5.8 243 2767 0.35 0.00 0.00 0.000 6 0.003 0.000 2846 1912 1875

2797 0.84 146.6 50.9 5.9 246 2803 0.28 3.03 0.00 0.000 4 0.004 0.004 2921 3653 1874

3107 0.84 146.6 33.2 5.7 273 3113 0.30 2.97 0.00 0.000 6 0.004 0.003 2845 1885 1874

3145 0.84 146.6 31.0 5.9 276 3147 0.30 0.00 0.00 0.000 6 0.003 0.000 2922 1885 1874

3177 0.84 146.6 29.2 5.6 279 3179 0.35 0.00 0.00 0.000 6 0.003 0.000 2850 1882 1874

3209 0.84 146.6 27.3 6.0 282 3211 0.40 0.00 0.00 0.000 6 0.003 0.000 2924 1885 1874

3241 0.84 146.6 25.5 5.6 285 3243 0.30 0.00 0.00 0.000 6 0.004 0.000 2846 1883 1874

3272 0.84 146.6 23.7 5.7 288 3274 0.40 0.00 0.00 0.000 6 0.003 0.000 2917 1882 1874

3304 0.84 146.6 21.9 5.5 291 3306 0.30 0.00 0.00 0.000 6 0.003 0.000 2842 1883 1875

3336 0.84 146.6 20.0 6.0 294 3338 0.40 0.00 0.00 0.000 6 0.004 0.000 2920 1883 1875

3369 0.84 146.6 18.1 5.9 297 3371 0.32 0.00 0.00 0.000 6 0.003 0.000 2849 1884 1875

3399 0.84 146.6 16.4 5.7 300 3401 0.38 0.00 0.00 0.000 6 0.003 0.000 2923 1882 1874

3431 0.84 146.6 14.5 5.6 303 3433 0.38 0.00 0.00 0.000 6 0.003 0.000 2846 1885 1874

3463 0.84 146.6 12.7 5.7 306 3465 0.40 0.00 0.00 0.000 6 0.003 0.000 2921 1885 1874

3495 0.84 146.6 11.0 5.5 309 3497 0.47 0.00 0.00 0.000 6 0.004 0.000 2809 1885 1874

3526 0.84 146.6 9.3 5.3 312 3529 0.55 0.00 0.00 0.000 6 0.003 0.000 2922 1884 1874

3559 0.84 146.8 7.8 5.0 315 3564 0.25 2.17 0.00 0.000 4 0.004 0.004 2850 558 1875

3647 0.84 146.8 3.2 5.5 322 3654 0.30 2.67 0.00 0.000 6 0.004 0.004 2926 2211 1874

3672 end climb: SURFACE_DEPTH_REACHED

state 3672 begin surface coast

3706 end surface coast: CONTROL_FINISHED_OK

state 3706 begin surface

ID	80	HD_C	5.8987e-05	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	11	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	183	ESCAPE_HEADING	0	ROLL_MAX	3750	ALTIM_PING_DELTA	10
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2069	ALTIM_PULSE	3
D_TGT	95	TGT_DEFAULT_LAT	47.599998	C_ROLL_CLIMB	2069	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_DEFAULT_LON	-122.3	HEAD_ERRBAND	10	XPDR_VALID	0
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_BOOST	0	SM_CC	300	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	2	INT_PRESSURE_YINT	0
D_PITCH	0	FILEMGR	0	R_STBD_OVSHOOT	1	DEEPGLIDER	0
D_SAFE	0	CALL_NDIVES	1	ROLL_AD_RATE	400	DEEPGLIDERMB	0
D_CALL	0	COMM_SEQ	0	ROLL_MAXERRORS	10	MOTHERBOARD	4
SURFACE_URGENCY	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MIN	188	DEVICE3	-1
T_DIVE	63	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	C_VBD	2473	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_DBAND	2	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	VBD_CNV	-0.24529999	SMARTS	1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_TIMEOUT	360	SMARTDEVICE1	3
T_NO_W	120	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE2	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_BATHY	-4	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS2_DEVICE	-1
USE_ICE	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	T_GPS_CHARGE	-28909.227	UNCOM_BLEED	20	GPS_DEVICE	48
D_OFFGRID	100	T_RSLEEP	3	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	XPDR_DEVICE	-1
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_24V	91.800003	SIM_W	0
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	61.200001	SIM_PITCH	0
MAX_BUOY	150	PITCH_MIN	30	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MAX	4065	PRESSURE_YINT	-0.16054545	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	C_PITCH	2692	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	PITCH_DBAND	0.1	AD7714Ch0Gain	1	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_CNV	0.0046000001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.331019
MASS	52000	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763502
NAV_MODE	1	PITCH_GAIN	16	COMPASS_USE	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0	AR_RESETARS	0.0
HD_A	0.0043390002	PITCH_MAXERRORS	10	ALTIM_BOTTOM_TURN_MARGIN	0	AR_RECORDBELOW	0.0
HD_B	0.013382	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	AR_NOTIFYAPOGEE	0.0

GPS1	121448,4806.604,-12222.373,23,1.1,23,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.063,-0.144
_SM_DEPTHo	0.00	KALMAN_X	17389.0,67.3,149.1,-16021.5,19.2
_SM_ANGLEo	-50.0	KALMAN_Y	-1099.2,114.2,-161.7,-1261.4,125.6
GPS2	122141,4806.416,-12222.313,27,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	138.3,3085,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.8,0.997030	_24V_AH	23.8,19.678
SM_CCo	3802,131.93,0.004,17,0,1250,300.00	_10V_AH	9.7,39.121
SM_GC	0.00,0.00,0.00,131.93,0.000,0.000,0.004,144,1957,1250,-11.71,-3.08,300.00	DATA_FILE_SIZE	9590,328
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	95878,8
TT8_MAMPS	0.048321	CFSIZE	260165632,253415424
HUMID	1660	ERRORS	0,0,0,0,0,0,0,0,1,0,0,117,135,17,0
INTERNAL_PRESSURE	12.5298	GPS	020808,133216,4806.185,-12222.006,22,1.1,22,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	47	3	4.38	SBE_CT	256	24	146.76
Roll_motor	33	3	3.08	nil	0	0	0.00
VBD_pump_during_apogee	243	4	26.71	nil	0	0	0.00
VBD_pump_during_surface	131	3	12.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	ARS	0	216	0.00
Iridium_during_xfer	82	223	438.87
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	50	13.73
TT8	717	18	125.23
LPSleep	2012	0	7.61
TT8_Active	619	18	108.18
TT8_Sampling	421	38	155.20
TT8_CF8	724	44	309.23
TT8_Kalman	33	80	25.88
Analog_circuits	1013	12	117.93
GPS_charging	0	0	0.00
Compass	332	26	83.85
RAFOS	0	0	0.00
Transponder	0	0	0.00

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
125	end surface: CONTROL_FINISHED_OK
state	125	begin dive
129	-0.84	-146.6	0.0	0.0	0	192	0.00	0.00	-60.88	0.000	6	0.000	0.000	147	1887	3078
196	-0.84	-146.6	0.6	-1.2	6	216	11.73	2.15	0.00	0.000	4	0.004	0.004	2535	545	3078
520	-0.84	-146.6	25.2	-5.2	35	526	0.30	2.90	0.00	0.000	6	0.004	0.004	2460	2220	3077
557	-0.84	-146.6	27.3	-5.8	38	560	0.43	0.00	0.00	0.000	6	0.004	0.000	2533	2221	3078
589	-0.84	-146.6	29.0	-5.1	41	591	0.30	0.00	0.00	0.000	6	0.003	0.000	2461	2220	3078
621	-0.84	-146.6	30.7	-5.3	44	623	0.30	0.00	0.00	0.000	6	0.003	0.000	2535	2219	3077
653	-0.84	-146.6	32.4	-5.4	47	655	0.30	0.00	0.00	0.000	6	0.004	0.000	2459	2218	3077
685	-0.84	-146.6	34.1	-5.4	50	687	0.30	0.00	0.00	0.000	6	0.004	0.000	2537	2218	3078
717	-0.84	-146.6	35.8	-5.2	53	719	0.30	0.00	0.00	0.000	6	0.004	0.000	2461	2220	3078
749	-0.84	-146.6	37.5	-5.5	56	751	0.30	0.00	0.00	0.000	6	0.003	0.000	2536	2220	3078
780	-0.84	-146.6	39.2	-5.4	59	782	0.30	0.00	0.00	0.000	6	0.003	0.000	2461	2219	3078
812	-0.84	-146.6	41.0	-5.4	62	818	0.32	2.90	0.00	0.000	4	0.004	0.004	2537	553	3077
992	-0.84	-146.6	50.9	-5.6	77	999	0.30	2.97	0.00	0.000	6	0.003	0.004	2459	2162	3078
1030	-0.84	-146.6	53.0	-5.8	81	1032	0.35	0.00	0.00	0.000	6	0.004	0.000	2536	2163	3079
1062	-0.84	-146.6	54.7	-5.5	84	1064	0.40	0.00	0.00	0.000	6	0.004	0.000	2459	2164	3078
1093	-0.84	-146.6	56.4	-5.4	87	1096	0.40	0.00	0.00	0.000	6	0.004	0.000	2533	2163	3079
1125	-0.84	-146.6	58.0	-5.2	90	1127	0.38	0.00	0.00	0.000	6	0.003	0.000	2460	2163	3078
1157	-0.84	-146.6	59.8	-5.3	93	1160	0.60	0.00	0.00	0.000	6	0.004	0.000	2533	2164	3078
1189	-0.84	-146.6	61.6	-5.6	96	1191	0.40	0.00	0.00	0.000	6	0.004	0.000	2453	2162	3079
1221	-0.84	-146.6	63.3	-5.2	99	1223	0.57	0.00	0.00	0.000	6	0.003	0.000	2565	2164	3077
1253	-0.84	-146.6	64.9	-5.3	102	1255	0.45	0.00	0.00	0.000	6	0.004	0.000	2461	2163	3076
1285	-0.84	-146.6	66.6	-5.2	105	1287	0.30	0.00	0.00	0.000	6	0.003	0.000	2535	2164	3077
1317	-0.84	-146.6	68.2	-5.0	108	1319	0.30	0.00	0.00	0.000	6	0.003	0.000	2459	2163	3078
1349	-0.84	-146.6	69.9	-5.4	111	1351	0.38	0.00	0.00	0.000	6	0.003	0.000	2536	2163	3078
1380	-0.84	-146.6	71.6	-5.3	114	1382	0.32	0.00	0.00	0.000	6	0.004	0.000	2496	2164	3078
1413	-0.84	-146.6	73.3	-5.3	117	1415	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2163	3078
1444	-0.84	-146.6	74.9	-5.1	120	1445	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2162	3077
1476	-0.84	-146.6	76.6	-5.4	123	1477	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2163	3077
1508	-0.84	-146.6	78.2	-5.0	126	1509	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2163	3078
1540	-0.84	-146.6	79.8	-5.0	129	1544	0.00	2.42	0.00	0.000	4	0.000	0.004	2502	3592	3078
1673	-0.84	-146.6	86.4	-4.7	140	1679	0.00	2.90	0.00	0.000	6	0.000	0.004	2498	1911	3077
1711	-0.84	-146.6	88.2	-4.9	144	1713	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	1910	3078
1743	-0.84	-146.6	89.6	-4.6	147	1744	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1907	3077
1775	-0.84	-146.6	91.1	-4.9	150	1776	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1909	3078
1807	-0.84	-146.6	92.6	-4.6	153	1808	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1909	3078
1839	-0.84	-146.6	94.1	-4.5	156	1840	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1908	3077
1857	end dive: TARGET_DEPTH_EXCEEDED
state	1857	begin apogee
1864	-0.31	0.0	95.0	4.7	158	1991	0.60	0.00	122.62	0.005	6	0.004	0.000	2650	2223	2472
1992	end apogee: CONTROL_FINISHED_OK
state	1992	begin climb
1995	0.84	146.6	96.3	0.0	171	2122	1.25	0.00	121.25	0.005	6	0.004	0.000	2905	2224	1873
2153	0.84	146.6	88.7	6.2	187	2156	0.40	0.00	0.00	0.000	6	0.004	0.000	2833	2224	1875
2185	0.84	146.6	86.8	6.3	190	2187	0.43	0.00	0.00	0.000	6	0.003	0.000	2910	2224	1875
2218	0.84	146.6	84.8	6.1	193	2220	0.43	0.00	0.00	0.000	6	0.003	0.000	2834	2224	1874
2248	0.84	146.6	82.8	6.2	196	2250	0.30	0.00	0.00	0.000	6	0.003	0.000	2914	2225	1875
2280	0.84	146.6	80.9	6.2	199	2282	0.30	0.00	0.00	0.000	6	0.003	0.000	2841	2221	1874
2312	0.84	146.6	79.0	6.0	202	2317	0.28	2.53	0.00	0.000	4	0.004	0.004	2915	3670	1874
2441	0.84	146.6	71.3	6.5	213	2447	0.30	2.97	0.00	0.000	6	0.003	0.004	2840	1911	1875
2478	0.84	146.6	69.0	6.2	216	2480	0.30	0.00	0.00	0.000	6	0.004	0.000	2916	1912	1874
2510	0.84	146.6	67.1	5.8	219	2512	0.30	0.00	0.00	0.000	6	0.003	0.000	2840	1911	1874
2542	0.84	146.6	65.4	5.6	222	2544	0.35	0.00	0.00	0.000	6	0.004	0.000	2920	1910	1875
2574	0.84	146.6	63.5	5.7	225	2576	0.38	0.00	0.00	0.000	6	0.003	0.000	2845	1910	1874
2606	0.84	146.6	61.8	5.6	228	2608	0.38	0.00	0.00	0.000	6	0.004	0.000	2918	1911	1875
2637	0.84	146.6	60.1	5.4	231	2640	0.43	0.00	0.00	0.000	6	0.004	0.000	2844	1912	1874
2669	0.84	146.6	58.2	5.8	234	2671	0.28	0.00	0.00	0.000	6	0.003	0.000	2921	1912	1875
2701	0.84	146.6	56.4	5.7	237	2704	0.35	0.00	0.00	0.000	6	0.004	0.000	2843	1911	1874
2733	0.84	146.6	54.6	5.4	240	2735	0.43	0.00	0.00	0.000	6	0.003	0.000	2921	1911	1875
2765	0.84	146.6	52.8	5.8	243	2767	0.35	0.00	0.00	0.000	6	0.003	0.000	2846	1912	1875
2797	0.84	146.6	50.9	5.9	246	2803	0.28	3.03	0.00	0.000	4	0.004	0.004	2921	3653	1874
3107	0.84	146.6	33.2	5.7	273	3113	0.30	2.97	0.00	0.000	6	0.004	0.003	2845	1885	1874
3145	0.84	146.6	31.0	5.9	276	3147	0.30	0.00	0.00	0.000	6	0.003	0.000	2922	1885	1874
3177	0.84	146.6	29.2	5.6	279	3179	0.35	0.00	0.00	0.000	6	0.003	0.000	2850	1882	1874
3209	0.84	146.6	27.3	6.0	282	3211	0.40	0.00	0.00	0.000	6	0.003	0.000	2924	1885	1874
3241	0.84	146.6	25.5	5.6	285	3243	0.30	0.00	0.00	0.000	6	0.004	0.000	2846	1883	1874
3272	0.84	146.6	23.7	5.7	288	3274	0.40	0.00	0.00	0.000	6	0.003	0.000	2917	1882	1874
3304	0.84	146.6	21.9	5.5	291	3306	0.30	0.00	0.00	0.000	6	0.003	0.000	2842	1883	1875
3336	0.84	146.6	20.0	6.0	294	3338	0.40	0.00	0.00	0.000	6	0.004	0.000	2920	1883	1875
3369	0.84	146.6	18.1	5.9	297	3371	0.32	0.00	0.00	0.000	6	0.003	0.000	2849	1884	1875
3399	0.84	146.6	16.4	5.7	300	3401	0.38	0.00	0.00	0.000	6	0.003	0.000	2923	1882	1874
3431	0.84	146.6	14.5	5.6	303	3433	0.38	0.00	0.00	0.000	6	0.003	0.000	2846	1885	1874
3463	0.84	146.6	12.7	5.7	306	3465	0.40	0.00	0.00	0.000	6	0.003	0.000	2921	1885	1874
3495	0.84	146.6	11.0	5.5	309	3497	0.47	0.00	0.00	0.000	6	0.004	0.000	2809	1885	1874
3526	0.84	146.6	9.3	5.3	312	3529	0.55	0.00	0.00	0.000	6	0.003	0.000	2922	1884	1874
3559	0.84	146.8	7.8	5.0	315	3564	0.25	2.17	0.00	0.000	4	0.004	0.004	2850	558	1875
3647	0.84	146.8	3.2	5.5	322	3654	0.30	2.67	0.00	0.000	6	0.004	0.004	2926	2211	1874
3672	end climb: SURFACE_DEPTH_REACHED
state	3672	begin surface coast
3706	end surface coast: CONTROL_FINISHED_OK
state	3706	begin surface