Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 190 * 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 190 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 -29093.176 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 -29093.176

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 190 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 210942,4805.203,-12221.266,26,1.1,27,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.092,0.127

_SM_DEPTHo 0.00 KALMAN_X 17853.6,151.3,-6.2,-15120.0,47.1

_SM_ANGLEo -50.0 KALMAN_Y -890.3,-176.6,-67.3,-3523.5,-21.3

GPS2 211650,4805.201,-12221.264,34,1.1,35,18.0 MHEAD_RNG_PITCHd_Wd 306.2,6190,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.7,0.997199 _24V_AH 23.8,20.636

SM_CCo 3778,110.32,0.004,15,0,1250,300.00 _10V_AH 9.7,39.332

SM_GC 0.00,0.00,0.00,110.32,0.000,0.000,0.004,147,1933,1250,-11.70,-3.82,300.00 DATA_FILE_SIZE 9552,326

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 88495,8

TT8_MAMPS 0.049088 CFSIZE 260165632,253186048

HUMID 1531 ERRORS 0,0,0,0,0,0,0,0,1,0,0,72,172,15,0

INTERNAL_PRESSURE 12.5298 GPS 020808,222628,4805.484,-12221.454,12,1.1,12,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 4 3.34 SBE_CT 256 24 146.61

Roll_motor 43 3 3.99 nil 0 0 0.00

VBD_pump_during_apogee 264 4 28.92 nil 0 0 0.00

VBD_pump_during_surface 110 3 10.07 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 84 223 450.79

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 50 17.25

TT8 687 18 120.05

LPSleep 2006 0 7.59

TT8_Active 601 18 105.00

TT8_Sampling 430 38 158.53

TT8_CF8 735 44 314.05

TT8_Kalman 33 80 25.88

Analog_circuits 996 12 115.98

GPS_charging 0 0 0.00

Compass 331 26 83.60

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

124 end surface: CONTROL_FINISHED_OK

state 124 begin dive

127 -0.84 -146.6 0.0 0.0 0 190 0.00 0.00 -60.70 0.000 6 0.000 0.000 145 2223 3075

194 -0.84 -146.6 0.6 -1.6 6 215 11.50 2.85 0.00 0.000 4 0.004 0.004 2536 460 3075

316 -0.84 -146.6 14.9 -6.0 17 322 0.30 3.03 0.00 0.000 6 0.004 0.004 2462 2197 3075

353 -0.84 -146.6 17.1 -5.8 20 356 0.32 0.00 0.00 0.000 6 0.003 0.000 2498 2196 3076

385 -0.84 -146.6 18.7 -5.2 23 386 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2197 3075

417 -0.84 -146.6 20.3 -5.0 26 418 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2196 3075

449 -0.84 -146.6 22.1 -5.4 29 450 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2197 3075

481 -0.84 -146.6 23.9 -5.5 32 482 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2195 3076

513 -0.84 -146.6 25.6 -5.7 35 514 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2195 3076

545 -0.84 -146.6 27.5 -5.7 38 546 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2196 3075

576 -0.84 -146.6 29.2 -5.5 41 578 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2196 3074

608 -0.84 -146.6 30.8 -5.1 44 613 0.00 2.28 0.00 0.000 4 0.000 0.004 2497 3642 3075

760 -0.84 -146.6 39.2 -5.6 57 765 0.00 3.17 0.00 0.000 6 0.000 0.004 2500 1875 3075

798 -0.84 -146.6 41.2 -5.5 60 802 0.00 2.30 0.00 0.000 4 0.000 0.004 2498 561 3075

874 -0.84 -146.6 45.7 -6.0 66 881 0.00 3.03 0.00 0.000 6 0.000 0.004 2498 2184 3075

913 -0.84 -146.6 47.7 -5.6 70 917 0.00 2.45 0.00 0.000 4 0.000 0.004 2497 3630 3075

1001 -0.84 -146.6 52.8 -5.3 77 1007 0.00 2.72 0.00 0.000 6 0.000 0.004 2498 1966 3076

1039 -0.84 -146.6 54.8 -5.6 81 1040 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1966 3075

1071 -0.84 -146.6 56.6 -5.5 84 1072 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1967 3075

1103 -0.84 -146.6 58.3 -5.2 87 1104 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1967 3075

1135 -0.84 -146.6 59.8 -5.1 90 1136 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1965 3076

1167 -0.84 -146.6 61.4 -4.9 93 1168 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1965 3075

1198 -0.84 -146.6 63.2 -5.3 96 1200 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1966 3077

1230 -0.84 -146.6 64.8 -5.1 99 1231 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1965 3075

1262 -0.84 -146.6 66.5 -5.3 102 1263 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1966 3074

1294 -0.84 -146.6 68.2 -5.3 105 1295 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1966 3075

1326 -0.84 -146.6 69.8 -5.2 108 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1965 3076

1358 -0.84 -146.6 71.6 -5.4 111 1359 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1966 3075

1390 -0.84 -146.6 73.2 -5.0 114 1391 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1966 3076

1421 -0.84 -146.6 74.8 -5.2 117 1423 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1964 3075

1454 -0.84 -146.6 76.4 -4.9 120 1455 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1966 3075

1485 -0.84 -146.6 78.0 -5.1 123 1486 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1966 3076

1517 -0.84 -146.6 79.6 -5.0 126 1518 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1965 3075

1549 -0.84 -146.6 81.1 -4.7 129 1551 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1966 3076

1581 -0.84 -146.6 82.7 -5.0 132 1582 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1966 3074

1613 -0.84 -146.6 84.3 -5.0 135 1614 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1966 3076

1645 -0.84 -146.6 85.8 -4.8 138 1646 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1966 3075

1676 -0.84 -146.6 87.5 -5.1 141 1677 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1966 3075

1708 -0.84 -146.6 89.0 -5.0 144 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1967 3075

1740 -0.84 -146.6 90.5 -4.9 147 1741 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1965 3074

1772 -0.84 -146.6 92.0 -4.6 150 1774 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1966 3075

1804 -0.84 -146.6 93.5 -4.6 153 1805 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1966 3076

1834 end dive: TARGET_DEPTH_EXCEEDED

state 1834 begin apogee

1841 -0.31 0.0 95.1 4.9 156 1968 0.88 0.00 121.85 0.005 6 0.005 0.000 2681 2166 2474

1969 end apogee: CONTROL_FINISHED_OK

state 1969 begin climb

1972 0.84 146.6 96.1 0.0 169 2099 1.12 0.00 120.95 0.005 6 0.004 0.000 2903 2166 1875

2130 0.84 146.6 88.0 6.5 185 2133 0.43 0.00 0.00 0.000 6 0.003 0.000 2827 2167 1875

2162 0.84 146.6 85.8 6.5 188 2164 0.30 0.00 0.00 0.000 6 0.003 0.000 2903 2167 1875

2195 0.84 146.6 83.9 6.4 191 2197 0.30 0.00 0.00 0.000 6 0.003 0.000 2830 2166 1875

2225 0.84 146.6 82.0 6.1 194 2230 0.38 2.47 0.00 0.000 4 0.004 0.004 2904 3594 1875

2426 0.84 146.6 69.7 6.7 211 2433 0.30 2.70 0.00 0.000 6 0.003 0.004 2826 1962 1875

2464 0.84 146.6 67.4 6.4 215 2467 0.32 0.00 0.00 0.000 6 0.003 0.000 2865 1962 1875

2496 0.84 146.6 65.6 5.8 218 2497 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1963 1874

2528 0.84 146.6 63.7 5.9 221 2529 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1962 1874

2560 0.84 146.6 61.9 5.7 224 2561 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1963 1875

2592 0.84 146.6 59.9 6.0 227 2593 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1963 1875

2624 0.84 146.6 58.0 6.1 230 2625 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 1963 1877

2655 0.84 146.6 56.1 6.0 233 2657 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 1961 1876

2687 0.84 146.6 54.0 6.3 236 2689 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1962 1875

2719 0.84 146.6 52.1 6.0 239 2720 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1963 1875

2751 0.84 146.6 50.1 6.2 242 2752 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1962 1876

2783 0.84 146.6 48.3 5.7 245 2784 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1960 1875

2815 0.84 146.6 46.4 5.9 248 2816 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1962 1874

2847 0.84 146.6 44.6 5.9 251 2851 0.00 2.50 0.00 0.000 4 0.000 0.004 2864 526 1875

3103 0.84 146.6 29.6 5.3 273 3109 0.00 2.72 0.00 0.000 6 0.000 0.003 2864 2184 1875

3141 0.84 146.6 27.6 5.8 277 3145 0.00 2.53 0.00 0.000 4 0.000 0.004 2864 3653 1875

3352 0.84 146.6 16.0 5.6 295 3358 0.00 2.90 0.00 0.000 6 0.000 0.004 2865 1920 1875

3390 0.84 146.6 13.9 5.6 299 3391 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1921 1874

3422 0.84 146.6 12.2 5.3 302 3423 0.00 0.00 0.00 0.000 6 0.000 0.000 2863 1921 1875

3454 0.84 146.6 10.4 5.7 305 3455 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 1919 1876

3486 0.84 146.6 8.6 5.7 308 3487 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1919 1876

3517 0.84 146.6 6.9 5.2 311 3519 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 1922 1876

3550 0.85 155.3 5.5 4.8 314 3560 0.00 0.00 7.35 0.004 6 0.000 0.000 2865 1920 1840

3591 0.87 171.7 3.6 4.5 318 3612 0.00 2.30 12.27 0.005 4 0.000 0.004 2866 488 1773

3630 0.90 191.7 2.2 4.4 321 3638 0.30 2.83 1.58 0.004 2 0.003 0.004 2943 2243 1772

3639 end climb: SURFACE_DEPTH_REACHED

state 3639 begin surface coast

3682 end surface coast: CONTROL_FINISHED_OK

state 3682 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	190	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	-29093.176	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	210942,4805.203,-12221.266,26,1.1,27,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.092,0.127
_SM_DEPTHo	0.00	KALMAN_X	17853.6,151.3,-6.2,-15120.0,47.1
_SM_ANGLEo	-50.0	KALMAN_Y	-890.3,-176.6,-67.3,-3523.5,-21.3
GPS2	211650,4805.201,-12221.264,34,1.1,35,18.0	MHEAD_RNG_PITCHd_Wd	306.2,6190,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.7,0.997199	_24V_AH	23.8,20.636
SM_CCo	3778,110.32,0.004,15,0,1250,300.00	_10V_AH	9.7,39.332
SM_GC	0.00,0.00,0.00,110.32,0.000,0.000,0.004,147,1933,1250,-11.70,-3.82,300.00	DATA_FILE_SIZE	9552,326
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	88495,8
TT8_MAMPS	0.049088	CFSIZE	260165632,253186048
HUMID	1531	ERRORS	0,0,0,0,0,0,0,0,1,0,0,72,172,15,0
INTERNAL_PRESSURE	12.5298	GPS	020808,222628,4805.484,-12221.454,12,1.1,12,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	4	3.34	SBE_CT	256	24	146.61
Roll_motor	43	3	3.99	nil	0	0	0.00
VBD_pump_during_apogee	264	4	28.92	nil	0	0	0.00
VBD_pump_during_surface	110	3	10.07	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	84	223	450.79
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	50	17.25
TT8	687	18	120.05
LPSleep	2006	0	7.59
TT8_Active	601	18	105.00
TT8_Sampling	430	38	158.53
TT8_CF8	735	44	314.05
TT8_Kalman	33	80	25.88
Analog_circuits	996	12	115.98
GPS_charging	0	0	0.00
Compass	331	26	83.60
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
124	end surface: CONTROL_FINISHED_OK
state	124	begin dive
127	-0.84	-146.6	0.0	0.0	0	190	0.00	0.00	-60.70	0.000	6	0.000	0.000	145	2223	3075
194	-0.84	-146.6	0.6	-1.6	6	215	11.50	2.85	0.00	0.000	4	0.004	0.004	2536	460	3075
316	-0.84	-146.6	14.9	-6.0	17	322	0.30	3.03	0.00	0.000	6	0.004	0.004	2462	2197	3075
353	-0.84	-146.6	17.1	-5.8	20	356	0.32	0.00	0.00	0.000	6	0.003	0.000	2498	2196	3076
385	-0.84	-146.6	18.7	-5.2	23	386	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2197	3075
417	-0.84	-146.6	20.3	-5.0	26	418	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2196	3075
449	-0.84	-146.6	22.1	-5.4	29	450	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2197	3075
481	-0.84	-146.6	23.9	-5.5	32	482	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2195	3076
513	-0.84	-146.6	25.6	-5.7	35	514	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2195	3076
545	-0.84	-146.6	27.5	-5.7	38	546	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2196	3075
576	-0.84	-146.6	29.2	-5.5	41	578	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2196	3074
608	-0.84	-146.6	30.8	-5.1	44	613	0.00	2.28	0.00	0.000	4	0.000	0.004	2497	3642	3075
760	-0.84	-146.6	39.2	-5.6	57	765	0.00	3.17	0.00	0.000	6	0.000	0.004	2500	1875	3075
798	-0.84	-146.6	41.2	-5.5	60	802	0.00	2.30	0.00	0.000	4	0.000	0.004	2498	561	3075
874	-0.84	-146.6	45.7	-6.0	66	881	0.00	3.03	0.00	0.000	6	0.000	0.004	2498	2184	3075
913	-0.84	-146.6	47.7	-5.6	70	917	0.00	2.45	0.00	0.000	4	0.000	0.004	2497	3630	3075
1001	-0.84	-146.6	52.8	-5.3	77	1007	0.00	2.72	0.00	0.000	6	0.000	0.004	2498	1966	3076
1039	-0.84	-146.6	54.8	-5.6	81	1040	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	1966	3075
1071	-0.84	-146.6	56.6	-5.5	84	1072	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1967	3075
1103	-0.84	-146.6	58.3	-5.2	87	1104	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1967	3075
1135	-0.84	-146.6	59.8	-5.1	90	1136	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1965	3076
1167	-0.84	-146.6	61.4	-4.9	93	1168	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	1965	3075
1198	-0.84	-146.6	63.2	-5.3	96	1200	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1966	3077
1230	-0.84	-146.6	64.8	-5.1	99	1231	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	1965	3075
1262	-0.84	-146.6	66.5	-5.3	102	1263	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1966	3074
1294	-0.84	-146.6	68.2	-5.3	105	1295	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1966	3075
1326	-0.84	-146.6	69.8	-5.2	108	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1965	3076
1358	-0.84	-146.6	71.6	-5.4	111	1359	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1966	3075
1390	-0.84	-146.6	73.2	-5.0	114	1391	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	1966	3076
1421	-0.84	-146.6	74.8	-5.2	117	1423	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1964	3075
1454	-0.84	-146.6	76.4	-4.9	120	1455	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1966	3075
1485	-0.84	-146.6	78.0	-5.1	123	1486	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	1966	3076
1517	-0.84	-146.6	79.6	-5.0	126	1518	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1965	3075
1549	-0.84	-146.6	81.1	-4.7	129	1551	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1966	3076
1581	-0.84	-146.6	82.7	-5.0	132	1582	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1966	3074
1613	-0.84	-146.6	84.3	-5.0	135	1614	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1966	3076
1645	-0.84	-146.6	85.8	-4.8	138	1646	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	1966	3075
1676	-0.84	-146.6	87.5	-5.1	141	1677	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1966	3075
1708	-0.84	-146.6	89.0	-5.0	144	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1967	3075
1740	-0.84	-146.6	90.5	-4.9	147	1741	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	1965	3074
1772	-0.84	-146.6	92.0	-4.6	150	1774	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1966	3075
1804	-0.84	-146.6	93.5	-4.6	153	1805	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	1966	3076
1834	end dive: TARGET_DEPTH_EXCEEDED
state	1834	begin apogee
1841	-0.31	0.0	95.1	4.9	156	1968	0.88	0.00	121.85	0.005	6	0.005	0.000	2681	2166	2474
1969	end apogee: CONTROL_FINISHED_OK
state	1969	begin climb
1972	0.84	146.6	96.1	0.0	169	2099	1.12	0.00	120.95	0.005	6	0.004	0.000	2903	2166	1875
2130	0.84	146.6	88.0	6.5	185	2133	0.43	0.00	0.00	0.000	6	0.003	0.000	2827	2167	1875
2162	0.84	146.6	85.8	6.5	188	2164	0.30	0.00	0.00	0.000	6	0.003	0.000	2903	2167	1875
2195	0.84	146.6	83.9	6.4	191	2197	0.30	0.00	0.00	0.000	6	0.003	0.000	2830	2166	1875
2225	0.84	146.6	82.0	6.1	194	2230	0.38	2.47	0.00	0.000	4	0.004	0.004	2904	3594	1875
2426	0.84	146.6	69.7	6.7	211	2433	0.30	2.70	0.00	0.000	6	0.003	0.004	2826	1962	1875
2464	0.84	146.6	67.4	6.4	215	2467	0.32	0.00	0.00	0.000	6	0.003	0.000	2865	1962	1875
2496	0.84	146.6	65.6	5.8	218	2497	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1963	1874
2528	0.84	146.6	63.7	5.9	221	2529	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1962	1874
2560	0.84	146.6	61.9	5.7	224	2561	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1963	1875
2592	0.84	146.6	59.9	6.0	227	2593	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1963	1875
2624	0.84	146.6	58.0	6.1	230	2625	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	1963	1877
2655	0.84	146.6	56.1	6.0	233	2657	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	1961	1876
2687	0.84	146.6	54.0	6.3	236	2689	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1962	1875
2719	0.84	146.6	52.1	6.0	239	2720	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1963	1875
2751	0.84	146.6	50.1	6.2	242	2752	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1962	1876
2783	0.84	146.6	48.3	5.7	245	2784	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1960	1875
2815	0.84	146.6	46.4	5.9	248	2816	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1962	1874
2847	0.84	146.6	44.6	5.9	251	2851	0.00	2.50	0.00	0.000	4	0.000	0.004	2864	526	1875
3103	0.84	146.6	29.6	5.3	273	3109	0.00	2.72	0.00	0.000	6	0.000	0.003	2864	2184	1875
3141	0.84	146.6	27.6	5.8	277	3145	0.00	2.53	0.00	0.000	4	0.000	0.004	2864	3653	1875
3352	0.84	146.6	16.0	5.6	295	3358	0.00	2.90	0.00	0.000	6	0.000	0.004	2865	1920	1875
3390	0.84	146.6	13.9	5.6	299	3391	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1921	1874
3422	0.84	146.6	12.2	5.3	302	3423	0.00	0.00	0.00	0.000	6	0.000	0.000	2863	1921	1875
3454	0.84	146.6	10.4	5.7	305	3455	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	1919	1876
3486	0.84	146.6	8.6	5.7	308	3487	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1919	1876
3517	0.84	146.6	6.9	5.2	311	3519	0.00	0.00	0.00	0.000	6	0.000	0.000	2866	1922	1876
3550	0.85	155.3	5.5	4.8	314	3560	0.00	0.00	7.35	0.004	6	0.000	0.000	2865	1920	1840
3591	0.87	171.7	3.6	4.5	318	3612	0.00	2.30	12.27	0.005	4	0.000	0.004	2866	488	1773
3630	0.90	191.7	2.2	4.4	321	3638	0.30	2.83	1.58	0.004	2	0.003	0.004	2943	2243	1772
3639	end climb: SURFACE_DEPTH_REACHED
state	3639	begin surface coast
3682	end surface coast: CONTROL_FINISHED_OK
state	3682	begin surface