Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 187 * 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 187 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 -28989.594 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 -28989.594

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 187 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 172034,4805.337,-12221.368,30,1.1,31,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.123,-0.098

_SM_DEPTHo 0.00 KALMAN_X 17634.1,222.2,-89.8,-15049.8,-18.9

_SM_ANGLEo -50.0 KALMAN_Y -1149.8,-96.8,211.5,-3439.8,-134.8

GPS2 172714,4805.299,-12221.396,15,1.1,15,18.0 MHEAD_RNG_PITCHd_Wd 110.6,740,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.8,0.997241 _24V_AH 23.8,20.226

SM_CCo 3856,79.62,0.004,10,0,1249,300.25 _10V_AH 9.7,39.242

SM_GC 0.00,0.00,0.00,79.62,0.000,0.000,0.004,147,2156,1249,-11.70,2.43,300.25 DATA_FILE_SIZE 9611,332

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 94772,8

TT8_MAMPS 0.049855 CFSIZE 260165632,253280256

HUMID 1640 ERRORS 0,0,0,0,0,0,0,0,1,0,0,100,209,10,0

INTERNAL_PRESSURE 12.5884 GPS 020808,183714,4805.165,-12220.844,20,1.1,20,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 41 3 3.82 SBE_CT 259 24 148.50

Roll_motor 50 3 4.63 nil 0 0 0.00

VBD_pump_during_apogee 290 4 31.77 nil 0 0 0.00

VBD_pump_during_surface 79 3 7.27 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 82 223 439.28

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.67

TT8 708 18 123.79

LPSleep 1997 0 7.56

TT8_Active 587 18 102.66

TT8_Sampling 423 38 156.15

TT8_CF8 730 44 311.65

TT8_Kalman 33 80 25.88

Analog_circuits 996 12 116.01

GPS_charging 0 0 0.00

Compass 345 26 87.19

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 126 begin dive

129 -0.84 -146.6 0.0 0.0 0 192 0.00 0.00 -60.62 0.000 6 0.000 0.000 146 1925 3076

196 -0.84 -146.6 0.6 -1.3 6 217 11.88 2.33 0.00 0.000 4 0.004 0.003 2547 463 3075

379 -0.84 -146.6 18.9 -6.3 22 386 0.30 2.97 0.00 0.000 6 0.003 0.004 2475 2197 3075

417 -0.84 -146.6 21.1 -6.2 26 423 0.32 2.85 0.00 0.000 4 0.004 0.004 2547 548 3075

726 -0.84 -146.6 37.8 -5.4 53 732 0.30 3.03 0.00 0.000 6 0.004 0.004 2471 2194 3077

763 -0.84 -146.6 40.0 -5.8 56 769 0.40 2.65 0.00 0.000 4 0.004 0.004 2545 547 3076

814 -0.84 -146.6 42.7 -5.4 60 820 0.30 2.65 0.00 0.000 6 0.004 0.004 2472 2187 3075

852 -0.84 -146.6 44.6 -5.0 63 854 0.30 0.00 0.00 0.000 6 0.003 0.000 2545 2187 3076

884 -0.84 -146.6 46.3 -5.1 66 886 0.32 0.00 0.00 0.000 6 0.004 0.000 2510 2188 3075

916 -0.84 -146.6 47.8 -4.8 69 917 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2188 3076

947 -0.84 -146.6 49.4 -5.1 72 948 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2187 3076

979 -0.84 -146.6 51.0 -5.1 75 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2188 3077

1012 -0.84 -146.6 52.6 -4.9 78 1013 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2188 3076

1044 -0.84 -146.6 54.1 -4.7 81 1045 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2188 3076

1075 -0.84 -146.6 55.6 -4.8 84 1076 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2188 3076

1107 -0.84 -146.6 57.2 -4.9 87 1108 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2187 3075

1139 -0.84 -146.6 58.7 -4.8 90 1140 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2188 3075

1171 -0.84 -146.6 60.2 -4.6 93 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2186 3076

1203 -0.84 -146.6 61.6 -4.6 96 1204 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2187 3075

1234 -0.84 -146.6 62.9 -4.2 99 1236 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2188 3076

1267 -0.84 -146.6 64.3 -4.3 102 1268 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2187 3075

1298 -0.84 -146.6 65.7 -4.5 105 1299 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2187 3076

1330 -0.84 -146.6 67.2 -4.6 108 1331 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2190 3075

1362 -0.84 -146.6 68.8 -5.0 111 1363 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2188 3076

1394 -0.84 -146.6 70.4 -5.0 114 1395 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2187 3076

1426 -0.84 -146.6 72.0 -5.0 117 1427 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2187 3075

1457 -0.84 -146.6 73.6 -5.1 120 1458 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2187 3076

1490 -0.84 -146.6 75.2 -5.0 123 1491 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2188 3076

1521 -0.84 -146.6 76.8 -4.9 126 1522 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2188 3076

1554 -0.84 -146.6 78.4 -5.1 129 1555 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2187 3075

1585 -0.84 -146.6 80.0 -4.9 132 1590 0.00 2.95 0.00 0.000 4 0.000 0.004 2510 557 3076

1696 -0.84 -146.6 85.8 -5.5 141 1702 0.00 2.65 0.00 0.000 6 0.000 0.004 2508 2198 3076

1734 -0.84 -146.6 87.8 -5.5 145 1735 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2198 3076

1766 -0.84 -146.6 89.4 -5.2 148 1767 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2199 3076

1798 -0.84 -146.6 91.2 -5.2 151 1799 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2198 3074

1830 -0.84 -146.6 92.7 -5.0 154 1831 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2199 3076

1861 -0.84 -146.6 94.3 -5.3 157 1862 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2199 3076

1880 end dive: TARGET_DEPTH_EXCEEDED

state 1880 begin apogee

1887 -0.31 0.0 95.3 4.9 159 2014 0.75 0.00 122.05 0.005 6 0.004 0.000 2659 1881 2474

2015 end apogee: CONTROL_FINISHED_OK

state 2015 begin climb

2018 0.84 146.6 97.0 0.0 172 2145 1.25 0.00 121.35 0.005 6 0.004 0.000 2922 1881 1874

2176 0.84 146.6 89.7 5.9 188 2178 0.30 0.00 0.00 0.000 6 0.004 0.000 2847 1880 1875

2208 0.84 146.6 87.8 5.9 191 2210 0.40 0.00 0.00 0.000 6 0.004 0.000 2922 1881 1874

2240 0.84 146.6 85.8 6.2 194 2242 0.40 0.00 0.00 0.000 6 0.003 0.000 2843 1881 1874

2272 0.84 146.6 83.8 6.2 197 2274 0.40 0.00 0.00 0.000 6 0.003 0.000 2916 1880 1875

2303 0.84 146.6 81.9 6.0 200 2306 0.40 0.00 0.00 0.000 6 0.003 0.000 2847 1882 1874

2335 0.84 146.6 80.1 5.9 203 2341 0.28 2.90 0.00 0.000 4 0.004 0.004 2918 3614 1875

2375 0.84 146.6 77.6 5.9 206 2381 0.30 2.60 0.00 0.000 6 0.004 0.004 2845 1973 1874

2413 0.84 146.6 75.3 6.0 209 2415 0.30 0.00 0.00 0.000 6 0.004 0.000 2919 1974 1874

2444 0.84 146.6 73.5 6.0 212 2447 0.30 0.00 0.00 0.000 6 0.004 0.000 2841 1972 1874

2478 0.84 146.6 71.5 6.1 215 2480 0.40 0.00 0.00 0.000 6 0.003 0.000 2914 1974 1875

2508 0.84 146.6 69.7 5.7 218 2510 0.43 0.00 0.00 0.000 6 0.003 0.000 2840 1973 1875

2541 0.84 146.6 67.8 6.0 221 2543 0.40 0.00 0.00 0.000 6 0.004 0.000 2917 1973 1875

2571 0.84 146.6 65.8 6.3 224 2573 0.28 0.00 0.00 0.000 6 0.004 0.000 2839 1973 1874

2603 0.84 146.6 64.0 5.9 227 2605 0.30 0.00 0.00 0.000 6 0.004 0.000 2920 1973 1874

2634 0.84 146.6 62.0 6.2 230 2636 0.28 0.00 0.00 0.000 6 0.004 0.000 2848 1974 1874

2666 0.84 146.6 60.0 6.5 233 2668 0.43 0.00 0.00 0.000 6 0.003 0.000 2924 1973 1874

2698 0.84 146.6 58.0 6.2 236 2700 0.43 0.00 0.00 0.000 6 0.003 0.000 2849 1973 1875

2730 0.84 146.6 56.1 6.0 239 2732 0.40 0.00 0.00 0.000 6 0.003 0.000 2926 1973 1874

2762 0.84 146.6 54.0 6.1 242 2764 0.60 0.00 0.00 0.000 6 0.003 0.000 2849 1974 1874

2794 0.84 146.6 52.0 6.5 245 2796 0.45 0.00 0.00 0.000 6 0.003 0.000 2918 1974 1874

2826 0.84 146.6 49.9 6.6 248 2828 0.43 0.00 0.00 0.000 6 0.004 0.000 2846 1973 1874

2857 0.84 146.6 47.7 6.9 251 2860 0.38 0.00 0.00 0.000 6 0.004 0.000 2921 1973 1875

2890 0.84 146.6 45.6 6.7 254 2892 0.30 0.00 0.00 0.000 6 0.004 0.000 2848 1974 1874

2921 0.84 146.6 43.5 6.3 257 2931 0.38 3.15 0.00 0.000 4 0.004 0.004 2925 3595 1874

3115 0.84 146.6 31.1 6.7 274 3122 0.45 2.65 0.00 0.000 6 0.003 0.003 2813 1933 1874

3153 0.84 146.6 28.8 6.3 278 3159 0.60 2.33 0.00 0.000 4 0.004 0.004 2925 501 1874

3354 0.84 146.6 17.7 5.5 295 3362 0.30 2.90 0.00 0.000 6 0.004 0.004 2847 2239 1874

3393 0.84 146.6 15.7 5.3 299 3395 0.43 0.00 0.00 0.000 6 0.004 0.000 2919 2239 1873

3424 0.84 146.6 14.0 5.4 302 3427 0.43 0.00 0.00 0.000 6 0.004 0.000 2845 2240 1874

3457 0.84 146.6 12.3 5.3 305 3459 0.30 0.00 0.00 0.000 6 0.003 0.000 2916 2239 1874

3488 0.86 161.0 11.0 4.6 308 3510 0.32 2.10 13.60 0.004 4 0.003 0.004 2880 3576 1814

3571 0.87 171.2 7.1 4.7 315 3588 0.00 2.95 8.38 0.005 6 0.000 0.004 2881 1931 1773

3620 0.92 207.6 5.2 3.9 320 3651 0.00 2.60 24.73 0.005 4 0.000 0.004 2882 468 1626

3750 end climb: SURFACE_DEPTH_REACHED

state 3750 begin surface coast

3758 end surface coast: CONTROL_FINISHED_OK

state 3758 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	187	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	-28989.594	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	172034,4805.337,-12221.368,30,1.1,31,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.123,-0.098
_SM_DEPTHo	0.00	KALMAN_X	17634.1,222.2,-89.8,-15049.8,-18.9
_SM_ANGLEo	-50.0	KALMAN_Y	-1149.8,-96.8,211.5,-3439.8,-134.8
GPS2	172714,4805.299,-12221.396,15,1.1,15,18.0	MHEAD_RNG_PITCHd_Wd	110.6,740,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	1.8,0.997241	_24V_AH	23.8,20.226
SM_CCo	3856,79.62,0.004,10,0,1249,300.25	_10V_AH	9.7,39.242
SM_GC	0.00,0.00,0.00,79.62,0.000,0.000,0.004,147,2156,1249,-11.70,2.43,300.25	DATA_FILE_SIZE	9611,332
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	94772,8
TT8_MAMPS	0.049855	CFSIZE	260165632,253280256
HUMID	1640	ERRORS	0,0,0,0,0,0,0,0,1,0,0,100,209,10,0
INTERNAL_PRESSURE	12.5884	GPS	020808,183714,4805.165,-12220.844,20,1.1,20,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	41	3	3.82	SBE_CT	259	24	148.50
Roll_motor	50	3	4.63	nil	0	0	0.00
VBD_pump_during_apogee	290	4	31.77	nil	0	0	0.00
VBD_pump_during_surface	79	3	7.27	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	439.28
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.67
TT8	708	18	123.79
LPSleep	1997	0	7.56
TT8_Active	587	18	102.66
TT8_Sampling	423	38	156.15
TT8_CF8	730	44	311.65
TT8_Kalman	33	80	25.88
Analog_circuits	996	12	116.01
GPS_charging	0	0	0.00
Compass	345	26	87.19
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	126	begin dive
129	-0.84	-146.6	0.0	0.0	0	192	0.00	0.00	-60.62	0.000	6	0.000	0.000	146	1925	3076
196	-0.84	-146.6	0.6	-1.3	6	217	11.88	2.33	0.00	0.000	4	0.004	0.003	2547	463	3075
379	-0.84	-146.6	18.9	-6.3	22	386	0.30	2.97	0.00	0.000	6	0.003	0.004	2475	2197	3075
417	-0.84	-146.6	21.1	-6.2	26	423	0.32	2.85	0.00	0.000	4	0.004	0.004	2547	548	3075
726	-0.84	-146.6	37.8	-5.4	53	732	0.30	3.03	0.00	0.000	6	0.004	0.004	2471	2194	3077
763	-0.84	-146.6	40.0	-5.8	56	769	0.40	2.65	0.00	0.000	4	0.004	0.004	2545	547	3076
814	-0.84	-146.6	42.7	-5.4	60	820	0.30	2.65	0.00	0.000	6	0.004	0.004	2472	2187	3075
852	-0.84	-146.6	44.6	-5.0	63	854	0.30	0.00	0.00	0.000	6	0.003	0.000	2545	2187	3076
884	-0.84	-146.6	46.3	-5.1	66	886	0.32	0.00	0.00	0.000	6	0.004	0.000	2510	2188	3075
916	-0.84	-146.6	47.8	-4.8	69	917	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2188	3076
947	-0.84	-146.6	49.4	-5.1	72	948	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2187	3076
979	-0.84	-146.6	51.0	-5.1	75	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2188	3077
1012	-0.84	-146.6	52.6	-4.9	78	1013	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2188	3076
1044	-0.84	-146.6	54.1	-4.7	81	1045	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2188	3076
1075	-0.84	-146.6	55.6	-4.8	84	1076	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2188	3076
1107	-0.84	-146.6	57.2	-4.9	87	1108	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2187	3075
1139	-0.84	-146.6	58.7	-4.8	90	1140	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2188	3075
1171	-0.84	-146.6	60.2	-4.6	93	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2186	3076
1203	-0.84	-146.6	61.6	-4.6	96	1204	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2187	3075
1234	-0.84	-146.6	62.9	-4.2	99	1236	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2188	3076
1267	-0.84	-146.6	64.3	-4.3	102	1268	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2187	3075
1298	-0.84	-146.6	65.7	-4.5	105	1299	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2187	3076
1330	-0.84	-146.6	67.2	-4.6	108	1331	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2190	3075
1362	-0.84	-146.6	68.8	-5.0	111	1363	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2188	3076
1394	-0.84	-146.6	70.4	-5.0	114	1395	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2187	3076
1426	-0.84	-146.6	72.0	-5.0	117	1427	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2187	3075
1457	-0.84	-146.6	73.6	-5.1	120	1458	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2187	3076
1490	-0.84	-146.6	75.2	-5.0	123	1491	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2188	3076
1521	-0.84	-146.6	76.8	-4.9	126	1522	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2188	3076
1554	-0.84	-146.6	78.4	-5.1	129	1555	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2187	3075
1585	-0.84	-146.6	80.0	-4.9	132	1590	0.00	2.95	0.00	0.000	4	0.000	0.004	2510	557	3076
1696	-0.84	-146.6	85.8	-5.5	141	1702	0.00	2.65	0.00	0.000	6	0.000	0.004	2508	2198	3076
1734	-0.84	-146.6	87.8	-5.5	145	1735	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2198	3076
1766	-0.84	-146.6	89.4	-5.2	148	1767	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2199	3076
1798	-0.84	-146.6	91.2	-5.2	151	1799	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2198	3074
1830	-0.84	-146.6	92.7	-5.0	154	1831	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2199	3076
1861	-0.84	-146.6	94.3	-5.3	157	1862	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2199	3076
1880	end dive: TARGET_DEPTH_EXCEEDED
state	1880	begin apogee
1887	-0.31	0.0	95.3	4.9	159	2014	0.75	0.00	122.05	0.005	6	0.004	0.000	2659	1881	2474
2015	end apogee: CONTROL_FINISHED_OK
state	2015	begin climb
2018	0.84	146.6	97.0	0.0	172	2145	1.25	0.00	121.35	0.005	6	0.004	0.000	2922	1881	1874
2176	0.84	146.6	89.7	5.9	188	2178	0.30	0.00	0.00	0.000	6	0.004	0.000	2847	1880	1875
2208	0.84	146.6	87.8	5.9	191	2210	0.40	0.00	0.00	0.000	6	0.004	0.000	2922	1881	1874
2240	0.84	146.6	85.8	6.2	194	2242	0.40	0.00	0.00	0.000	6	0.003	0.000	2843	1881	1874
2272	0.84	146.6	83.8	6.2	197	2274	0.40	0.00	0.00	0.000	6	0.003	0.000	2916	1880	1875
2303	0.84	146.6	81.9	6.0	200	2306	0.40	0.00	0.00	0.000	6	0.003	0.000	2847	1882	1874
2335	0.84	146.6	80.1	5.9	203	2341	0.28	2.90	0.00	0.000	4	0.004	0.004	2918	3614	1875
2375	0.84	146.6	77.6	5.9	206	2381	0.30	2.60	0.00	0.000	6	0.004	0.004	2845	1973	1874
2413	0.84	146.6	75.3	6.0	209	2415	0.30	0.00	0.00	0.000	6	0.004	0.000	2919	1974	1874
2444	0.84	146.6	73.5	6.0	212	2447	0.30	0.00	0.00	0.000	6	0.004	0.000	2841	1972	1874
2478	0.84	146.6	71.5	6.1	215	2480	0.40	0.00	0.00	0.000	6	0.003	0.000	2914	1974	1875
2508	0.84	146.6	69.7	5.7	218	2510	0.43	0.00	0.00	0.000	6	0.003	0.000	2840	1973	1875
2541	0.84	146.6	67.8	6.0	221	2543	0.40	0.00	0.00	0.000	6	0.004	0.000	2917	1973	1875
2571	0.84	146.6	65.8	6.3	224	2573	0.28	0.00	0.00	0.000	6	0.004	0.000	2839	1973	1874
2603	0.84	146.6	64.0	5.9	227	2605	0.30	0.00	0.00	0.000	6	0.004	0.000	2920	1973	1874
2634	0.84	146.6	62.0	6.2	230	2636	0.28	0.00	0.00	0.000	6	0.004	0.000	2848	1974	1874
2666	0.84	146.6	60.0	6.5	233	2668	0.43	0.00	0.00	0.000	6	0.003	0.000	2924	1973	1874
2698	0.84	146.6	58.0	6.2	236	2700	0.43	0.00	0.00	0.000	6	0.003	0.000	2849	1973	1875
2730	0.84	146.6	56.1	6.0	239	2732	0.40	0.00	0.00	0.000	6	0.003	0.000	2926	1973	1874
2762	0.84	146.6	54.0	6.1	242	2764	0.60	0.00	0.00	0.000	6	0.003	0.000	2849	1974	1874
2794	0.84	146.6	52.0	6.5	245	2796	0.45	0.00	0.00	0.000	6	0.003	0.000	2918	1974	1874
2826	0.84	146.6	49.9	6.6	248	2828	0.43	0.00	0.00	0.000	6	0.004	0.000	2846	1973	1874
2857	0.84	146.6	47.7	6.9	251	2860	0.38	0.00	0.00	0.000	6	0.004	0.000	2921	1973	1875
2890	0.84	146.6	45.6	6.7	254	2892	0.30	0.00	0.00	0.000	6	0.004	0.000	2848	1974	1874
2921	0.84	146.6	43.5	6.3	257	2931	0.38	3.15	0.00	0.000	4	0.004	0.004	2925	3595	1874
3115	0.84	146.6	31.1	6.7	274	3122	0.45	2.65	0.00	0.000	6	0.003	0.003	2813	1933	1874
3153	0.84	146.6	28.8	6.3	278	3159	0.60	2.33	0.00	0.000	4	0.004	0.004	2925	501	1874
3354	0.84	146.6	17.7	5.5	295	3362	0.30	2.90	0.00	0.000	6	0.004	0.004	2847	2239	1874
3393	0.84	146.6	15.7	5.3	299	3395	0.43	0.00	0.00	0.000	6	0.004	0.000	2919	2239	1873
3424	0.84	146.6	14.0	5.4	302	3427	0.43	0.00	0.00	0.000	6	0.004	0.000	2845	2240	1874
3457	0.84	146.6	12.3	5.3	305	3459	0.30	0.00	0.00	0.000	6	0.003	0.000	2916	2239	1874
3488	0.86	161.0	11.0	4.6	308	3510	0.32	2.10	13.60	0.004	4	0.003	0.004	2880	3576	1814
3571	0.87	171.2	7.1	4.7	315	3588	0.00	2.95	8.38	0.005	6	0.000	0.004	2881	1931	1773
3620	0.92	207.6	5.2	3.9	320	3651	0.00	2.60	24.73	0.005	4	0.000	0.004	2882	468	1626
3750	end climb: SURFACE_DEPTH_REACHED
state	3750	begin surface coast
3758	end surface coast: CONTROL_FINISHED_OK
state	3758	begin surface