Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 246 * 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 246 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 0 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 -30503.492 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 -30503.492

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 0 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 246 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 161523,4806.081,-12221.979,35,1.1,35,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.119,0.103

_SM_DEPTHo 0.00 KALMAN_X 19632.2,18.5,209.3,-17856.5,127.4

_SM_ANGLEo -50.0 KALMAN_Y 2201.4,-201.5,-118.3,-4969.0,76.0

GPS2 162206,4806.048,-12221.973,25,1.1,25,18.0 MHEAD_RNG_PITCHd_Wd 292.8,4399,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.6,0.997288 _24V_AH 23.8,27.864

SM_CCo 3239,132.18,0.004,17,0,1250,300.00 _10V_AH 9.7,40.953

SM_GC 0.00,0.00,0.00,132.18,0.000,0.000,0.004,146,1981,1250,-11.71,-2.49,300.00 DATA_FILE_SIZE 6426,276

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 82720,8

TT8_MAMPS 0.049088 CFSIZE 260165632,251469824

HUMID 1712 ERRORS 0,0,0,0,0,0,0,0,1,0,0,83,181,17,0

INTERNAL_PRESSURE 12.4809 GPS 050808,172331,4806.258,-12222.198,27,1.1,28,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 3 2.94 SBE_CT 218 24 125.09

Roll_motor 42 3 3.92 nil 0 0 0.00

VBD_pump_during_apogee 242 4 26.61 nil 0 0 0.00

VBD_pump_during_surface 132 3 12.06 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 79 223 421.29

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 50 12.76

TT8 602 18 105.25

LPSleep 1658 0 6.27

TT8_Active 606 18 105.87

TT8_Sampling 344 38 127.05

TT8_CF8 718 44 306.59

TT8_Kalman 33 80 25.87

Analog_circuits 943 12 109.79

GPS_charging 0 0 0.00

Compass 262 26 66.15

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

126 end surface: CONTROL_FINISHED_OK

state 126 begin dive

129 -0.84 -146.6 0.0 0.0 0 192 0.00 0.00 -60.60 0.000 6 0.000 0.000 145 1967 3077

196 -0.84 -146.6 0.6 -1.5 6 216 11.80 2.80 0.00 0.000 4 0.004 0.004 2566 3615 3075

273 -0.84 -146.6 11.3 -8.9 13 283 0.47 3.10 0.00 0.000 6 0.004 0.004 2454 1960 3076

315 -0.84 -146.6 14.4 -7.7 17 317 0.43 0.00 0.00 0.000 6 0.003 0.000 2568 1960 3076

346 -0.84 -146.6 16.7 -7.4 20 349 0.60 0.00 0.00 0.000 6 0.003 0.000 2491 1959 3075

378 -0.84 -146.6 18.9 -7.0 23 379 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 1960 3075

410 -0.84 -146.6 21.1 -6.9 26 411 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1959 3076

442 -0.84 -146.6 23.3 -6.7 29 443 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 1961 3075

474 -0.84 -146.6 25.5 -6.9 32 475 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1959 3075

506 -0.84 -146.6 27.7 -7.1 35 507 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 1961 3076

538 -0.84 -146.6 30.0 -7.1 38 539 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 1960 3075

569 -0.84 -146.6 32.1 -6.7 41 574 0.00 2.65 0.00 0.000 4 0.000 0.004 2492 3609 3076

743 -0.84 -146.6 43.8 -6.0 56 748 0.00 2.60 0.00 0.000 6 0.000 0.004 2493 1933 3076

781 -0.84 -146.6 46.3 -6.8 59 782 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 1933 3076

812 -0.84 -146.6 48.2 -6.2 62 814 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 1933 3075

844 -0.84 -146.6 50.4 -6.6 65 845 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1935 3076

876 -0.84 -146.6 52.4 -6.5 68 877 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 1936 3075

908 -0.84 -146.6 54.5 -6.5 71 909 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1933 3076

940 -0.84 -146.6 56.6 -6.5 74 945 0.00 3.03 0.00 0.000 4 0.000 0.004 2492 3653 3075

1024 -0.84 -146.6 61.9 -6.2 81 1029 0.00 2.97 0.00 0.000 6 0.000 0.004 2493 1889 3076

1061 -0.84 -146.6 64.4 -6.9 84 1063 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1890 3076

1093 -0.84 -146.6 66.4 -6.4 87 1094 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1891 3077

1126 -0.84 -146.6 68.5 -6.3 90 1127 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 1888 3076

1157 -0.84 -146.6 70.5 -6.5 93 1158 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1889 3076

1189 -0.84 -146.6 72.5 -6.3 96 1190 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1890 3075

1221 -0.84 -146.6 74.4 -6.1 99 1222 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1891 3075

1253 -0.84 -146.6 76.5 -6.4 102 1254 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 1890 3076

1284 -0.84 -146.6 78.5 -6.4 105 1286 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1889 3076

1316 -0.84 -146.6 80.6 -6.5 108 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1890 3076

1348 -0.84 -146.6 82.8 -6.7 111 1353 0.00 2.90 0.00 0.000 4 0.000 0.004 2492 3635 3075

1376 -0.84 -146.6 84.6 -6.7 113 1381 0.00 2.78 0.00 0.000 6 0.000 0.004 2492 1886 3076

1414 -0.84 -146.6 87.0 -6.6 116 1415 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1886 3075

1446 -0.84 -146.6 89.1 -6.6 119 1447 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1885 3076

1478 -0.84 -146.6 91.0 -6.2 122 1479 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1886 3076

1509 -0.84 -146.6 93.1 -6.3 125 1510 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 1885 3077

1539 end dive: TARGET_DEPTH_EXCEEDED

state 1539 begin apogee

1546 -0.31 0.0 95.1 6.2 128 1673 0.85 0.00 122.25 0.005 6 0.004 0.000 2682 2205 2472

1674 end apogee: CONTROL_FINISHED_OK

state 1674 begin climb

1677 0.84 146.6 96.8 0.0 141 1803 1.12 0.00 120.72 0.005 6 0.004 0.000 2908 2205 1876

1830 0.84 146.6 88.1 7.2 156 1832 0.30 0.00 0.00 0.000 6 0.004 0.000 2834 2205 1874

1862 0.84 146.6 85.9 7.1 159 1864 0.38 0.00 0.00 0.000 6 0.004 0.000 2913 2205 1876

1894 0.84 146.6 83.6 7.2 162 1896 0.38 0.00 0.00 0.000 6 0.004 0.000 2836 2205 1876

1926 0.84 146.6 81.3 7.1 165 1928 0.38 0.00 0.00 0.000 6 0.004 0.000 2910 2205 1877

1957 0.84 146.6 79.1 7.1 168 1960 0.43 0.00 0.00 0.000 6 0.004 0.000 2836 2206 1874

1989 0.84 146.6 76.7 7.4 171 1991 0.40 0.00 0.00 0.000 6 0.004 0.000 2912 2206 1875

2021 0.84 146.6 74.3 7.2 174 2023 0.38 0.00 0.00 0.000 6 0.003 0.000 2838 2205 1875

2053 0.84 146.6 71.9 7.4 177 2055 0.32 0.00 0.00 0.000 6 0.003 0.000 2877 2205 1875

2085 0.84 146.6 69.6 7.4 180 2086 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2204 1875

2117 0.84 146.6 67.1 7.6 183 2118 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2205 1875

2149 0.84 146.6 64.8 7.3 186 2150 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2204 1875

2180 0.84 146.6 62.6 7.1 189 2182 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2206 1875

2212 0.84 146.6 60.4 6.9 192 2214 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2205 1875

2244 0.84 146.6 58.1 7.0 195 2245 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2206 1875

2276 0.84 146.6 56.0 6.9 198 2277 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2206 1878

2308 0.84 146.6 53.7 6.9 201 2309 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2205 1875

2340 0.84 146.6 51.4 7.4 204 2341 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2206 1875

2372 0.84 146.6 49.3 6.8 207 2373 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2205 1874

2404 0.84 146.6 47.1 6.9 210 2405 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2206 1875

2435 0.84 146.6 45.0 6.5 213 2436 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2205 1874

2467 0.84 146.6 42.8 6.7 216 2468 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2205 1875

2499 0.84 146.6 40.7 6.6 219 2500 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 2205 1874

2531 0.84 146.6 38.6 6.7 222 2536 0.00 2.88 0.00 0.000 4 0.000 0.004 2877 543 1874

2627 0.84 146.6 32.4 6.2 230 2631 0.00 2.78 0.00 0.000 6 0.000 0.004 2876 2216 1875

2664 0.84 146.6 29.9 6.6 233 2665 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2216 1874

2696 0.84 146.6 27.8 6.5 236 2697 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2214 1875

2728 0.84 146.6 25.7 6.6 239 2729 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2215 1875

2760 0.84 146.6 23.7 6.6 242 2761 0.00 0.00 0.00 0.000 6 0.000 0.000 2874 2215 1875

2792 0.84 146.6 21.5 6.6 245 2793 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2215 1875

2823 0.84 146.6 19.6 6.1 248 2824 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2215 1877

2855 0.84 146.6 17.4 6.6 251 2856 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2214 1876

2887 0.84 146.6 15.5 6.5 254 2892 0.00 2.60 0.00 0.000 4 0.000 0.004 2876 546 1874

2948 0.84 146.6 11.6 6.5 259 2953 0.00 2.65 0.00 0.000 6 0.000 0.004 2875 2189 1875

2986 0.84 146.6 9.3 6.4 262 2987 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2188 1875

3018 0.84 146.6 7.1 6.7 265 3019 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2189 1875

3049 0.84 146.6 5.1 6.4 268 3055 0.00 3.03 0.00 0.000 4 0.000 0.004 2877 560 1874

3093 0.84 146.6 2.4 5.9 271 3099 0.00 2.78 0.00 0.000 6 0.000 0.004 2875 2220 1875

3107 end climb: SURFACE_DEPTH_REACHED

state 3107 begin surface coast

3140 end surface coast: CONTROL_FINISHED_OK

state 3140 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	246	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	0	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	-30503.492	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	161523,4806.081,-12221.979,35,1.1,35,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.119,0.103
_SM_DEPTHo	0.00	KALMAN_X	19632.2,18.5,209.3,-17856.5,127.4
_SM_ANGLEo	-50.0	KALMAN_Y	2201.4,-201.5,-118.3,-4969.0,76.0
GPS2	162206,4806.048,-12221.973,25,1.1,25,18.0	MHEAD_RNG_PITCHd_Wd	292.8,4399,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.6,0.997288	_24V_AH	23.8,27.864
SM_CCo	3239,132.18,0.004,17,0,1250,300.00	_10V_AH	9.7,40.953
SM_GC	0.00,0.00,0.00,132.18,0.000,0.000,0.004,146,1981,1250,-11.71,-2.49,300.00	DATA_FILE_SIZE	6426,276
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	82720,8
TT8_MAMPS	0.049088	CFSIZE	260165632,251469824
HUMID	1712	ERRORS	0,0,0,0,0,0,0,0,1,0,0,83,181,17,0
INTERNAL_PRESSURE	12.4809	GPS	050808,172331,4806.258,-12222.198,27,1.1,28,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	3	2.94	SBE_CT	218	24	125.09
Roll_motor	42	3	3.92	nil	0	0	0.00
VBD_pump_during_apogee	242	4	26.61	nil	0	0	0.00
VBD_pump_during_surface	132	3	12.06	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	79	223	421.29
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	50	12.76
TT8	602	18	105.25
LPSleep	1658	0	6.27
TT8_Active	606	18	105.87
TT8_Sampling	344	38	127.05
TT8_CF8	718	44	306.59
TT8_Kalman	33	80	25.87
Analog_circuits	943	12	109.79
GPS_charging	0	0	0.00
Compass	262	26	66.15
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
126	end surface: CONTROL_FINISHED_OK
state	126	begin dive
129	-0.84	-146.6	0.0	0.0	0	192	0.00	0.00	-60.60	0.000	6	0.000	0.000	145	1967	3077
196	-0.84	-146.6	0.6	-1.5	6	216	11.80	2.80	0.00	0.000	4	0.004	0.004	2566	3615	3075
273	-0.84	-146.6	11.3	-8.9	13	283	0.47	3.10	0.00	0.000	6	0.004	0.004	2454	1960	3076
315	-0.84	-146.6	14.4	-7.7	17	317	0.43	0.00	0.00	0.000	6	0.003	0.000	2568	1960	3076
346	-0.84	-146.6	16.7	-7.4	20	349	0.60	0.00	0.00	0.000	6	0.003	0.000	2491	1959	3075
378	-0.84	-146.6	18.9	-7.0	23	379	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	1960	3075
410	-0.84	-146.6	21.1	-6.9	26	411	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1959	3076
442	-0.84	-146.6	23.3	-6.7	29	443	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	1961	3075
474	-0.84	-146.6	25.5	-6.9	32	475	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1959	3075
506	-0.84	-146.6	27.7	-7.1	35	507	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	1961	3076
538	-0.84	-146.6	30.0	-7.1	38	539	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	1960	3075
569	-0.84	-146.6	32.1	-6.7	41	574	0.00	2.65	0.00	0.000	4	0.000	0.004	2492	3609	3076
743	-0.84	-146.6	43.8	-6.0	56	748	0.00	2.60	0.00	0.000	6	0.000	0.004	2493	1933	3076
781	-0.84	-146.6	46.3	-6.8	59	782	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	1933	3076
812	-0.84	-146.6	48.2	-6.2	62	814	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	1933	3075
844	-0.84	-146.6	50.4	-6.6	65	845	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1935	3076
876	-0.84	-146.6	52.4	-6.5	68	877	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	1936	3075
908	-0.84	-146.6	54.5	-6.5	71	909	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1933	3076
940	-0.84	-146.6	56.6	-6.5	74	945	0.00	3.03	0.00	0.000	4	0.000	0.004	2492	3653	3075
1024	-0.84	-146.6	61.9	-6.2	81	1029	0.00	2.97	0.00	0.000	6	0.000	0.004	2493	1889	3076
1061	-0.84	-146.6	64.4	-6.9	84	1063	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1890	3076
1093	-0.84	-146.6	66.4	-6.4	87	1094	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1891	3077
1126	-0.84	-146.6	68.5	-6.3	90	1127	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	1888	3076
1157	-0.84	-146.6	70.5	-6.5	93	1158	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1889	3076
1189	-0.84	-146.6	72.5	-6.3	96	1190	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	1890	3075
1221	-0.84	-146.6	74.4	-6.1	99	1222	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	1891	3075
1253	-0.84	-146.6	76.5	-6.4	102	1254	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	1890	3076
1284	-0.84	-146.6	78.5	-6.4	105	1286	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1889	3076
1316	-0.84	-146.6	80.6	-6.5	108	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1890	3076
1348	-0.84	-146.6	82.8	-6.7	111	1353	0.00	2.90	0.00	0.000	4	0.000	0.004	2492	3635	3075
1376	-0.84	-146.6	84.6	-6.7	113	1381	0.00	2.78	0.00	0.000	6	0.000	0.004	2492	1886	3076
1414	-0.84	-146.6	87.0	-6.6	116	1415	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1886	3075
1446	-0.84	-146.6	89.1	-6.6	119	1447	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1885	3076
1478	-0.84	-146.6	91.0	-6.2	122	1479	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	1886	3076
1509	-0.84	-146.6	93.1	-6.3	125	1510	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	1885	3077
1539	end dive: TARGET_DEPTH_EXCEEDED
state	1539	begin apogee
1546	-0.31	0.0	95.1	6.2	128	1673	0.85	0.00	122.25	0.005	6	0.004	0.000	2682	2205	2472
1674	end apogee: CONTROL_FINISHED_OK
state	1674	begin climb
1677	0.84	146.6	96.8	0.0	141	1803	1.12	0.00	120.72	0.005	6	0.004	0.000	2908	2205	1876
1830	0.84	146.6	88.1	7.2	156	1832	0.30	0.00	0.00	0.000	6	0.004	0.000	2834	2205	1874
1862	0.84	146.6	85.9	7.1	159	1864	0.38	0.00	0.00	0.000	6	0.004	0.000	2913	2205	1876
1894	0.84	146.6	83.6	7.2	162	1896	0.38	0.00	0.00	0.000	6	0.004	0.000	2836	2205	1876
1926	0.84	146.6	81.3	7.1	165	1928	0.38	0.00	0.00	0.000	6	0.004	0.000	2910	2205	1877
1957	0.84	146.6	79.1	7.1	168	1960	0.43	0.00	0.00	0.000	6	0.004	0.000	2836	2206	1874
1989	0.84	146.6	76.7	7.4	171	1991	0.40	0.00	0.00	0.000	6	0.004	0.000	2912	2206	1875
2021	0.84	146.6	74.3	7.2	174	2023	0.38	0.00	0.00	0.000	6	0.003	0.000	2838	2205	1875
2053	0.84	146.6	71.9	7.4	177	2055	0.32	0.00	0.00	0.000	6	0.003	0.000	2877	2205	1875
2085	0.84	146.6	69.6	7.4	180	2086	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2204	1875
2117	0.84	146.6	67.1	7.6	183	2118	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2205	1875
2149	0.84	146.6	64.8	7.3	186	2150	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2204	1875
2180	0.84	146.6	62.6	7.1	189	2182	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2206	1875
2212	0.84	146.6	60.4	6.9	192	2214	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2205	1875
2244	0.84	146.6	58.1	7.0	195	2245	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2206	1875
2276	0.84	146.6	56.0	6.9	198	2277	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2206	1878
2308	0.84	146.6	53.7	6.9	201	2309	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2205	1875
2340	0.84	146.6	51.4	7.4	204	2341	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2206	1875
2372	0.84	146.6	49.3	6.8	207	2373	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2205	1874
2404	0.84	146.6	47.1	6.9	210	2405	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2206	1875
2435	0.84	146.6	45.0	6.5	213	2436	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2205	1874
2467	0.84	146.6	42.8	6.7	216	2468	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2205	1875
2499	0.84	146.6	40.7	6.6	219	2500	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	2205	1874
2531	0.84	146.6	38.6	6.7	222	2536	0.00	2.88	0.00	0.000	4	0.000	0.004	2877	543	1874
2627	0.84	146.6	32.4	6.2	230	2631	0.00	2.78	0.00	0.000	6	0.000	0.004	2876	2216	1875
2664	0.84	146.6	29.9	6.6	233	2665	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2216	1874
2696	0.84	146.6	27.8	6.5	236	2697	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2214	1875
2728	0.84	146.6	25.7	6.6	239	2729	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2215	1875
2760	0.84	146.6	23.7	6.6	242	2761	0.00	0.00	0.00	0.000	6	0.000	0.000	2874	2215	1875
2792	0.84	146.6	21.5	6.6	245	2793	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2215	1875
2823	0.84	146.6	19.6	6.1	248	2824	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2215	1877
2855	0.84	146.6	17.4	6.6	251	2856	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2214	1876
2887	0.84	146.6	15.5	6.5	254	2892	0.00	2.60	0.00	0.000	4	0.000	0.004	2876	546	1874
2948	0.84	146.6	11.6	6.5	259	2953	0.00	2.65	0.00	0.000	6	0.000	0.004	2875	2189	1875
2986	0.84	146.6	9.3	6.4	262	2987	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2188	1875
3018	0.84	146.6	7.1	6.7	265	3019	0.00	0.00	0.00	0.000	6	0.000	0.000	2876	2189	1875
3049	0.84	146.6	5.1	6.4	268	3055	0.00	3.03	0.00	0.000	4	0.000	0.004	2877	560	1874
3093	0.84	146.6	2.4	5.9	271	3099	0.00	2.78	0.00	0.000	6	0.000	0.004	2875	2220	1875
3107	end climb: SURFACE_DEPTH_REACHED
state	3107	begin surface coast
3140	end surface coast: CONTROL_FINISHED_OK
state	3140	begin surface