Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 208 * 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 208 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 -29478.373 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 -29478.373

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 208 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 205449,4805.376,-12221.365,24,1.1,24,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,0.133

_SM_DEPTHo -0.00 KALMAN_X 18755.3,215.3,-94.8,-16095.1,42.4

_SM_ANGLEo -50.0 KALMAN_Y -290.8,-216.7,133.4,-4111.9,-86.8

GPS2 210146,4805.295,-12221.344,12,1.1,12,18.0 MHEAD_RNG_PITCHd_Wd 309.9,5990,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.5,0.997136 _24V_AH 23.7,23.186

SM_CCo 4093,0.00,0.000,0,0,926,379.23 _10V_AH 9.7,39.889

SM_GC -0.00,13.88,0.00,0.00,0.003,0.000,0.000,144,1934,926,-11.72,-3.82,379.23 DATA_FILE_SIZE 9587,351

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 96414,8

TT8_MAMPS 0.049088 CFSIZE 260165632,252571648

HUMID 1583 ERRORS 0,0,0,0,0,0,0,0,1,0,0,103,165,0,0

INTERNAL_PRESSURE 12.5298 GPS 030808,221328,4805.656,-12221.570,16,1.1,16,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 39 4 4.31 SBE_CT 274 24 155.95

Roll_motor 39 3 3.62 nil 0 0 0.00

VBD_pump_during_apogee 438 4 47.82 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 ARS 0 216 0.00

Iridium_during_xfer 90 223 478.73

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.13

TT8 716 18 125.16

LPSleep 2088 0 7.90

TT8_Active 591 18 103.31

TT8_Sampling 420 38 154.98

TT8_CF8 752 44 321.16

TT8_Kalman 33 80 25.88

Analog_circuits 1006 12 117.19

GPS_charging 0 0 0.00

Compass 345 26 87.05

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

123 end surface: CONTROL_FINISHED_OK

state 123 begin dive

126 -0.84 -146.6 0.0 0.0 0 190 0.00 0.00 -60.78 0.000 6 0.000 0.000 146 1950 3079

194 -0.84 -146.6 0.6 -1.4 6 212 12.23 2.83 0.00 0.000 4 0.004 0.004 2541 3686 3080

237 -0.84 -146.6 9.6 -26.6 10 244 0.30 2.78 0.00 0.000 6 0.003 0.004 2468 1939 3079

275 -0.84 -146.6 12.5 -7.5 14 280 0.28 2.35 0.00 0.000 4 0.004 0.003 2543 515 3078

341 -0.84 -146.6 16.5 -5.8 19 348 0.30 3.20 0.00 0.000 6 0.005 0.004 2469 2244 3079

379 -0.84 -146.6 18.5 -5.6 23 381 0.32 0.00 0.00 0.000 6 0.003 0.000 2507 2246 3079

411 -0.84 -146.6 20.3 -5.4 26 412 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2245 3079

443 -0.84 -146.6 22.0 -5.4 29 444 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2244 3078

475 -0.84 -146.6 23.7 -5.5 32 476 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2244 3079

506 -0.84 -146.6 25.4 -5.3 35 508 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2244 3079

538 -0.84 -146.6 27.1 -5.3 38 539 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2244 3079

571 -0.84 -146.6 28.6 -4.8 41 572 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2245 3079

602 -0.84 -146.6 30.2 -4.9 44 603 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2245 3079

636 -0.84 -146.6 31.7 -4.7 47 637 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2245 3079

666 -0.84 -146.6 33.1 -4.6 50 667 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2245 3079

698 -0.84 -146.6 34.7 -4.8 53 702 0.00 2.28 0.00 0.000 4 0.000 0.004 2506 3666 3079

1007 -0.84 -146.6 49.7 -4.9 80 1012 0.00 3.17 0.00 0.000 6 0.000 0.004 2506 1916 3079

1045 -0.84 -146.6 51.8 -5.5 83 1047 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1916 3078

1076 -0.84 -146.6 53.4 -5.2 86 1077 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3079

1108 -0.84 -146.6 55.0 -4.9 89 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1919 3079

1140 -0.84 -146.6 56.6 -5.3 92 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3078

1172 -0.84 -146.6 58.3 -5.0 95 1173 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3079

1203 -0.84 -146.6 59.9 -5.1 98 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1916 3079

1235 -0.84 -146.6 61.6 -5.3 101 1236 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1917 3078

1268 -0.84 -146.6 63.2 -5.2 104 1269 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3079

1299 -0.84 -146.6 65.0 -5.3 107 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1916 3080

1331 -0.84 -146.6 66.6 -5.3 110 1332 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 1915 3078

1363 -0.84 -146.6 68.3 -5.2 113 1364 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3079

1395 -0.84 -146.6 70.0 -5.4 116 1396 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3079

1427 -0.84 -146.6 71.7 -5.3 119 1428 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3078

1458 -0.84 -146.6 73.4 -5.5 122 1459 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3078

1490 -0.84 -146.6 75.1 -5.3 125 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1917 3078

1522 -0.84 -146.6 76.8 -5.3 128 1523 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1916 3077

1554 -0.84 -146.6 78.4 -5.3 131 1555 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1916 3079

1586 -0.84 -146.6 80.2 -5.5 134 1587 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3079

1618 -0.84 -146.6 81.8 -5.3 137 1619 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1920 3078

1649 -0.84 -146.6 83.6 -5.5 140 1651 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1916 3076

1681 -0.84 -146.6 85.3 -5.4 143 1682 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1915 3079

1713 -0.84 -146.6 87.0 -5.3 146 1715 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 1915 3078

1745 -0.84 -146.6 88.6 -5.1 149 1746 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3079

1777 -0.84 -146.6 90.3 -5.2 152 1778 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3079

1809 -0.84 -146.6 91.8 -5.0 155 1810 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1916 3079

1841 -0.84 -146.6 93.4 -4.9 158 1842 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1918 3079

1870 end dive: TARGET_DEPTH_EXCEEDED

state 1870 begin apogee

1877 -0.31 0.0 95.0 5.0 161 2004 0.73 0.00 122.45 0.005 6 0.004 0.000 2653 2224 2472

2005 end apogee: CONTROL_FINISHED_OK

state 2005 begin climb

2008 0.84 146.6 96.5 0.0 174 2134 1.25 0.00 120.88 0.005 6 0.004 0.000 2918 2224 1874

2161 0.84 146.6 89.7 5.3 189 2166 0.30 2.35 0.00 0.000 4 0.003 0.004 2843 3674 1875

2470 0.84 146.6 72.6 5.7 216 2476 0.30 2.90 0.00 0.000 6 0.004 0.004 2914 1888 1874

2508 0.84 146.6 70.7 5.3 219 2510 0.38 0.00 0.00 0.000 6 0.004 0.000 2838 1886 1875

2539 0.84 146.6 69.0 5.3 222 2542 0.43 0.00 0.00 0.000 6 0.004 0.000 2913 1887 1874

2571 0.84 146.6 67.3 5.3 225 2577 0.25 3.03 0.00 0.000 4 0.004 0.004 2841 3644 1875

2769 0.84 146.6 56.6 5.8 242 2775 0.30 2.88 0.00 0.000 6 0.004 0.004 2919 1974 1875

2806 0.84 146.6 54.4 5.9 245 2808 0.30 0.00 0.00 0.000 6 0.003 0.000 2845 1974 1875

2838 0.84 146.6 52.6 5.7 248 2841 0.38 0.00 0.00 0.000 6 0.004 0.000 2916 1975 1875

2870 0.84 146.6 51.0 5.3 251 2872 0.43 0.00 0.00 0.000 6 0.004 0.000 2842 1974 1875

2902 0.84 146.6 49.2 5.5 254 2904 0.45 0.00 0.00 0.000 6 0.003 0.000 2915 1976 1875

2934 0.84 146.6 47.4 5.6 257 2936 0.30 0.00 0.00 0.000 6 0.003 0.000 2839 1976 1875

2966 0.84 146.6 45.7 5.3 260 2968 0.43 0.00 0.00 0.000 6 0.003 0.000 2916 1973 1873

2997 0.84 146.6 44.1 5.1 263 3000 0.43 0.00 0.00 0.000 6 0.004 0.000 2841 1975 1874

3029 0.84 146.6 42.4 5.2 266 3031 0.28 0.00 0.00 0.000 6 0.004 0.000 2917 1975 1875

3061 0.85 151.1 40.9 4.9 269 3072 0.35 0.00 5.57 0.004 6 0.003 0.000 2840 1975 1857

3103 0.85 151.1 38.9 5.0 273 3105 0.38 0.00 0.00 0.000 6 0.004 0.000 2917 1976 1857

3135 0.86 164.6 37.4 4.6 276 3154 0.38 0.00 12.68 0.005 6 0.004 0.000 2841 1974 1804

3186 0.86 164.6 34.8 5.1 281 3188 0.32 0.00 0.00 0.000 6 0.004 0.000 2913 1975 1804

3218 0.86 164.6 33.1 5.2 284 3224 0.30 2.70 0.00 0.000 4 0.004 0.004 2838 3641 1803

3307 0.86 164.6 28.5 5.3 291 3314 0.30 3.20 0.00 0.000 6 0.003 0.004 2909 1907 1804

3346 0.88 174.9 26.8 4.7 295 3359 0.32 0.00 10.80 0.004 6 0.003 0.000 2872 1908 1759

3387 0.90 193.7 25.0 4.4 299 3407 0.00 0.00 17.15 0.005 6 0.000 0.000 2873 1907 1682

3439 0.92 208.7 22.6 4.6 304 3458 0.00 0.00 14.10 0.004 6 0.000 0.000 2870 1907 1623

3491 0.93 215.3 20.1 4.8 309 3501 0.00 0.00 7.30 0.004 6 0.000 0.000 2871 1908 1594

3533 0.94 228.8 18.2 4.6 313 3552 0.35 0.00 13.12 0.005 6 0.003 0.000 2947 1907 1539

3584 0.96 245.2 15.9 4.5 318 3605 0.40 0.00 15.45 0.005 6 0.003 0.000 2869 1907 1471

3637 0.99 265.6 13.5 4.4 323 3659 0.40 0.00 18.48 0.005 6 0.003 0.000 2944 1908 1390

3688 1.00 273.1 11.2 4.8 328 3699 0.43 0.00 8.15 0.004 6 0.003 0.000 2867 1909 1359

3731 1.02 291.3 9.3 4.5 332 3750 0.30 0.00 13.65 0.004 6 0.004 0.000 2941 1909 1284

3782 1.05 312.9 7.1 4.4 337 3802 0.38 0.00 15.45 0.004 6 0.004 0.000 2865 1910 1195

3834 1.13 378.9 5.5 3.0 342 3886 0.68 2.83 43.20 0.005 4 0.003 0.004 2975 3663 926

3899 end climb: SURFACE_DEPTH_REACHED

state 3899 begin surface coast

3934 end surface coast: CONTROL_FINISHED_OK

state 3936 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	208	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	-29478.373	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	205449,4805.376,-12221.365,24,1.1,24,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,0.133
_SM_DEPTHo	-0.00	KALMAN_X	18755.3,215.3,-94.8,-16095.1,42.4
_SM_ANGLEo	-50.0	KALMAN_Y	-290.8,-216.7,133.4,-4111.9,-86.8
GPS2	210146,4805.295,-12221.344,12,1.1,12,18.0	MHEAD_RNG_PITCHd_Wd	309.9,5990,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.5,0.997136	_24V_AH	23.7,23.186
SM_CCo	4093,0.00,0.000,0,0,926,379.23	_10V_AH	9.7,39.889
SM_GC	-0.00,13.88,0.00,0.00,0.003,0.000,0.000,144,1934,926,-11.72,-3.82,379.23	DATA_FILE_SIZE	9587,351
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	96414,8
TT8_MAMPS	0.049088	CFSIZE	260165632,252571648
HUMID	1583	ERRORS	0,0,0,0,0,0,0,0,1,0,0,103,165,0,0
INTERNAL_PRESSURE	12.5298	GPS	030808,221328,4805.656,-12221.570,16,1.1,16,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	39	4	4.31	SBE_CT	274	24	155.95
Roll_motor	39	3	3.62	nil	0	0	0.00
VBD_pump_during_apogee	438	4	47.82	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	ARS	0	216	0.00
Iridium_during_xfer	90	223	478.73
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.13
TT8	716	18	125.16
LPSleep	2088	0	7.90
TT8_Active	591	18	103.31
TT8_Sampling	420	38	154.98
TT8_CF8	752	44	321.16
TT8_Kalman	33	80	25.88
Analog_circuits	1006	12	117.19
GPS_charging	0	0	0.00
Compass	345	26	87.05
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
123	end surface: CONTROL_FINISHED_OK
state	123	begin dive
126	-0.84	-146.6	0.0	0.0	0	190	0.00	0.00	-60.78	0.000	6	0.000	0.000	146	1950	3079
194	-0.84	-146.6	0.6	-1.4	6	212	12.23	2.83	0.00	0.000	4	0.004	0.004	2541	3686	3080
237	-0.84	-146.6	9.6	-26.6	10	244	0.30	2.78	0.00	0.000	6	0.003	0.004	2468	1939	3079
275	-0.84	-146.6	12.5	-7.5	14	280	0.28	2.35	0.00	0.000	4	0.004	0.003	2543	515	3078
341	-0.84	-146.6	16.5	-5.8	19	348	0.30	3.20	0.00	0.000	6	0.005	0.004	2469	2244	3079
379	-0.84	-146.6	18.5	-5.6	23	381	0.32	0.00	0.00	0.000	6	0.003	0.000	2507	2246	3079
411	-0.84	-146.6	20.3	-5.4	26	412	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2245	3079
443	-0.84	-146.6	22.0	-5.4	29	444	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2244	3078
475	-0.84	-146.6	23.7	-5.5	32	476	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2244	3079
506	-0.84	-146.6	25.4	-5.3	35	508	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2244	3079
538	-0.84	-146.6	27.1	-5.3	38	539	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2244	3079
571	-0.84	-146.6	28.6	-4.8	41	572	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2245	3079
602	-0.84	-146.6	30.2	-4.9	44	603	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2245	3079
636	-0.84	-146.6	31.7	-4.7	47	637	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2245	3079
666	-0.84	-146.6	33.1	-4.6	50	667	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2245	3079
698	-0.84	-146.6	34.7	-4.8	53	702	0.00	2.28	0.00	0.000	4	0.000	0.004	2506	3666	3079
1007	-0.84	-146.6	49.7	-4.9	80	1012	0.00	3.17	0.00	0.000	6	0.000	0.004	2506	1916	3079
1045	-0.84	-146.6	51.8	-5.5	83	1047	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	1916	3078
1076	-0.84	-146.6	53.4	-5.2	86	1077	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3079
1108	-0.84	-146.6	55.0	-4.9	89	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	1919	3079
1140	-0.84	-146.6	56.6	-5.3	92	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3078
1172	-0.84	-146.6	58.3	-5.0	95	1173	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3079
1203	-0.84	-146.6	59.9	-5.1	98	1205	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	1916	3079
1235	-0.84	-146.6	61.6	-5.3	101	1236	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1917	3078
1268	-0.84	-146.6	63.2	-5.2	104	1269	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3079
1299	-0.84	-146.6	65.0	-5.3	107	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	1916	3080
1331	-0.84	-146.6	66.6	-5.3	110	1332	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	1915	3078
1363	-0.84	-146.6	68.3	-5.2	113	1364	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3079
1395	-0.84	-146.6	70.0	-5.4	116	1396	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3079
1427	-0.84	-146.6	71.7	-5.3	119	1428	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3078
1458	-0.84	-146.6	73.4	-5.5	122	1459	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3078
1490	-0.84	-146.6	75.1	-5.3	125	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1917	3078
1522	-0.84	-146.6	76.8	-5.3	128	1523	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	1916	3077
1554	-0.84	-146.6	78.4	-5.3	131	1555	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	1916	3079
1586	-0.84	-146.6	80.2	-5.5	134	1587	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3079
1618	-0.84	-146.6	81.8	-5.3	137	1619	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1920	3078
1649	-0.84	-146.6	83.6	-5.5	140	1651	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	1916	3076
1681	-0.84	-146.6	85.3	-5.4	143	1682	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1915	3079
1713	-0.84	-146.6	87.0	-5.3	146	1715	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	1915	3078
1745	-0.84	-146.6	88.6	-5.1	149	1746	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3079
1777	-0.84	-146.6	90.3	-5.2	152	1778	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3079
1809	-0.84	-146.6	91.8	-5.0	155	1810	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1916	3079
1841	-0.84	-146.6	93.4	-4.9	158	1842	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	1918	3079
1870	end dive: TARGET_DEPTH_EXCEEDED
state	1870	begin apogee
1877	-0.31	0.0	95.0	5.0	161	2004	0.73	0.00	122.45	0.005	6	0.004	0.000	2653	2224	2472
2005	end apogee: CONTROL_FINISHED_OK
state	2005	begin climb
2008	0.84	146.6	96.5	0.0	174	2134	1.25	0.00	120.88	0.005	6	0.004	0.000	2918	2224	1874
2161	0.84	146.6	89.7	5.3	189	2166	0.30	2.35	0.00	0.000	4	0.003	0.004	2843	3674	1875
2470	0.84	146.6	72.6	5.7	216	2476	0.30	2.90	0.00	0.000	6	0.004	0.004	2914	1888	1874
2508	0.84	146.6	70.7	5.3	219	2510	0.38	0.00	0.00	0.000	6	0.004	0.000	2838	1886	1875
2539	0.84	146.6	69.0	5.3	222	2542	0.43	0.00	0.00	0.000	6	0.004	0.000	2913	1887	1874
2571	0.84	146.6	67.3	5.3	225	2577	0.25	3.03	0.00	0.000	4	0.004	0.004	2841	3644	1875
2769	0.84	146.6	56.6	5.8	242	2775	0.30	2.88	0.00	0.000	6	0.004	0.004	2919	1974	1875
2806	0.84	146.6	54.4	5.9	245	2808	0.30	0.00	0.00	0.000	6	0.003	0.000	2845	1974	1875
2838	0.84	146.6	52.6	5.7	248	2841	0.38	0.00	0.00	0.000	6	0.004	0.000	2916	1975	1875
2870	0.84	146.6	51.0	5.3	251	2872	0.43	0.00	0.00	0.000	6	0.004	0.000	2842	1974	1875
2902	0.84	146.6	49.2	5.5	254	2904	0.45	0.00	0.00	0.000	6	0.003	0.000	2915	1976	1875
2934	0.84	146.6	47.4	5.6	257	2936	0.30	0.00	0.00	0.000	6	0.003	0.000	2839	1976	1875
2966	0.84	146.6	45.7	5.3	260	2968	0.43	0.00	0.00	0.000	6	0.003	0.000	2916	1973	1873
2997	0.84	146.6	44.1	5.1	263	3000	0.43	0.00	0.00	0.000	6	0.004	0.000	2841	1975	1874
3029	0.84	146.6	42.4	5.2	266	3031	0.28	0.00	0.00	0.000	6	0.004	0.000	2917	1975	1875
3061	0.85	151.1	40.9	4.9	269	3072	0.35	0.00	5.57	0.004	6	0.003	0.000	2840	1975	1857
3103	0.85	151.1	38.9	5.0	273	3105	0.38	0.00	0.00	0.000	6	0.004	0.000	2917	1976	1857
3135	0.86	164.6	37.4	4.6	276	3154	0.38	0.00	12.68	0.005	6	0.004	0.000	2841	1974	1804
3186	0.86	164.6	34.8	5.1	281	3188	0.32	0.00	0.00	0.000	6	0.004	0.000	2913	1975	1804
3218	0.86	164.6	33.1	5.2	284	3224	0.30	2.70	0.00	0.000	4	0.004	0.004	2838	3641	1803
3307	0.86	164.6	28.5	5.3	291	3314	0.30	3.20	0.00	0.000	6	0.003	0.004	2909	1907	1804
3346	0.88	174.9	26.8	4.7	295	3359	0.32	0.00	10.80	0.004	6	0.003	0.000	2872	1908	1759
3387	0.90	193.7	25.0	4.4	299	3407	0.00	0.00	17.15	0.005	6	0.000	0.000	2873	1907	1682
3439	0.92	208.7	22.6	4.6	304	3458	0.00	0.00	14.10	0.004	6	0.000	0.000	2870	1907	1623
3491	0.93	215.3	20.1	4.8	309	3501	0.00	0.00	7.30	0.004	6	0.000	0.000	2871	1908	1594
3533	0.94	228.8	18.2	4.6	313	3552	0.35	0.00	13.12	0.005	6	0.003	0.000	2947	1907	1539
3584	0.96	245.2	15.9	4.5	318	3605	0.40	0.00	15.45	0.005	6	0.003	0.000	2869	1907	1471
3637	0.99	265.6	13.5	4.4	323	3659	0.40	0.00	18.48	0.005	6	0.003	0.000	2944	1908	1390
3688	1.00	273.1	11.2	4.8	328	3699	0.43	0.00	8.15	0.004	6	0.003	0.000	2867	1909	1359
3731	1.02	291.3	9.3	4.5	332	3750	0.30	0.00	13.65	0.004	6	0.004	0.000	2941	1909	1284
3782	1.05	312.9	7.1	4.4	337	3802	0.38	0.00	15.45	0.004	6	0.004	0.000	2865	1910	1195
3834	1.13	378.9	5.5	3.0	342	3886	0.68	2.83	43.20	0.005	4	0.003	0.004	2975	3663	926
3899	end climb: SURFACE_DEPTH_REACHED
state	3899	begin surface coast
3934	end surface coast: CONTROL_FINISHED_OK
state	3936	begin surface