Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 382 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 HD_C 5.5727e-05 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 10 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 382 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 90 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 350 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 1 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 50 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 65 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 -23859.883 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 0.0041149999 PITCH_MAXERRORS 10 ALTIM_BOTTOM_TURN_MARGIN 0 AR_RECORDBELOW 0.0

HD_B 0.014024 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 350

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 90 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 50

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 -23859.883

CALL_TRIES 5 HD_A 0.0041149999 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.014024 RHO 1.023 T_MISSION 65

CAPMAXSIZE 100000 HD_C 5.5727e-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 1 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 10 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 382 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 123814,4806.781,-12222.535,19,1.1,19,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.111,0.128

_SM_DEPTHo 0.00 KALMAN_X 13179.0,20.5,16.6,-11604.2,48.0

_SM_ANGLEo -50.0 KALMAN_Y -3710.9,16.6,26.6,1698.9,-18.4

GPS2 124552,4806.751,-12222.545,31,1.1,31,18.0 MHEAD_RNG_PITCHd_Wd 301.2,2931,-13.2,-6.000

SPEED_LIMITS 0.060,0.170 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.6,0.997116 _24V_AH 23.8,44.144

SM_CCo 2813,175.35,0.004,23,0,1046,350.04 _10V_AH 9.7,42.719

SM_GC -0.00,0.00,0.00,175.35,0.000,0.000,0.004,145,2208,1046,-11.72,3.93,350.04 DATA_FILE_SIZE 6464,240

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 88503,8

TT8_MAMPS 0.048321 CFSIZE 260165632,246562816

HUMID 1565 ERRORS 0,0,0,0,0,0,0,0,1,0,0,95,134,23,0

INTERNAL_PRESSURE 12.5005 GPS 200708,134023,4806.952,-12222.759,9,1.1,9,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 37 4 4.13 SBE_CT 188 24 107.64

Roll_motor 33 3 3.08 nil 0 0 0.00

VBD_pump_during_apogee 242 4 26.55 nil 0 0 0.00

VBD_pump_during_surface 175 3 16.00 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 119 223 631.94

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.28

TT8 527 18 92.12

LPSleep 1398 0 5.29

TT8_Active 672 18 117.40

TT8_Sampling 327 38 120.59

TT8_CF8 662 44 282.83

TT8_Kalman 33 80 25.89

Analog_circuits 977 12 113.75

GPS_charging 0 0 0.00

Compass 247 26 62.32

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

90 end surface: CONTROL_FINISHED_OK

state 90 begin dive

94 -1.00 -146.6 0.0 0.0 0 165 0.00 0.00 -67.20 0.000 6 0.000 0.000 146 2208 3074

169 -1.00 -146.6 0.6 -0.7 7 190 12.18 2.65 0.00 0.000 4 0.004 0.004 2508 544 3075

269 -1.00 -146.6 15.2 -8.6 16 275 0.30 2.78 0.00 0.000 6 0.004 0.004 2433 2195 3075

307 -1.00 -146.6 18.3 -7.9 19 309 0.38 0.00 0.00 0.000 6 0.004 0.000 2511 2192 3076

338 -1.00 -146.6 20.6 -7.6 22 344 0.28 2.50 0.00 0.000 4 0.004 0.004 2436 3625 3075

383 -1.00 -146.6 23.9 -8.0 25 390 0.30 2.90 0.00 0.000 6 0.004 0.004 2512 1955 3075

420 -1.00 -146.6 26.9 -8.1 29 423 0.32 0.00 0.00 0.000 6 0.004 0.000 2474 1957 3074

452 -1.00 -146.6 29.3 -7.6 32 453 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 1958 3075

484 -1.00 -146.6 31.7 -7.6 35 485 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 1958 3075

516 -1.00 -146.6 34.1 -7.5 38 521 0.00 3.05 0.00 0.000 4 0.000 0.004 2471 3574 3076

601 -1.00 -146.6 40.4 -7.9 45 606 0.00 2.80 0.00 0.000 6 0.000 0.004 2474 1934 3075

639 -1.00 -146.6 43.2 -7.6 48 640 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 1934 3074

670 -1.00 -146.6 45.6 -7.3 51 671 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 1934 3076

702 -1.00 -146.6 47.9 -7.4 54 703 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1934 3075

734 -1.00 -146.6 50.3 -7.5 57 735 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1933 3074

766 -1.00 -146.6 52.7 -7.4 60 767 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1934 3074

798 -1.00 -146.6 55.0 -7.3 63 799 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1934 3075

829 -1.00 -146.6 57.4 -7.5 66 831 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1934 3075

862 -1.00 -146.6 59.8 -7.6 69 863 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 1935 3075

893 -1.00 -146.6 62.1 -7.1 72 894 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1934 3075

925 -1.00 -146.6 64.5 -7.6 75 926 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1934 3075

957 -1.00 -146.6 67.0 -7.8 78 958 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 1935 3075

989 -1.00 -146.6 69.3 -7.5 81 990 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1934 3075

1021 -1.00 -146.6 71.6 -7.3 84 1022 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1934 3076

1052 -1.00 -146.6 74.0 -7.6 87 1054 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 1934 3075

1085 -1.00 -146.6 76.5 -7.4 90 1086 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 1935 3076

1116 -1.00 -146.6 78.8 -7.5 93 1118 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1933 3075

1149 -1.00 -146.6 81.2 -7.2 96 1150 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 1936 3075

1180 -1.00 -146.6 83.5 -7.2 99 1181 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1935 3075

1212 -1.00 -146.6 85.8 -7.4 102 1213 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1934 3075

1243 -1.00 -146.6 88.1 -7.2 105 1248 0.00 2.85 0.00 0.000 4 0.000 0.004 2474 3589 3075

1269 end dive: TARGET_DEPTH_EXCEEDED

state 1269 begin apogee

1279 -0.31 0.0 90.1 7.1 107 1406 0.82 0.00 121.82 0.005 6 0.004 0.000 2665 1954 2472

1407 end apogee: CONTROL_FINISHED_OK

state 1407 begin climb

1410 1.00 146.6 92.1 0.0 120 1536 1.33 0.00 120.60 0.005 6 0.004 0.000 2934 1953 1875

1564 1.00 146.6 83.7 7.7 135 1566 0.35 0.00 0.00 0.000 6 0.004 0.000 2861 1956 1876

1596 1.00 146.6 81.4 7.3 138 1598 0.38 0.00 0.00 0.000 6 0.004 0.000 2936 1953 1874

1627 1.00 146.6 79.0 7.5 141 1633 0.35 2.70 0.00 0.000 4 0.004 0.004 2860 3610 1874

1936 1.00 146.6 56.2 8.4 168 1942 0.30 2.80 0.00 0.000 6 0.003 0.004 2935 1969 1875

1974 1.00 146.6 53.2 8.2 171 1976 0.28 0.00 0.00 0.000 6 0.005 0.000 2858 1969 1875

2006 1.00 146.6 50.7 7.9 174 2008 0.43 0.00 0.00 0.000 6 0.003 0.000 2935 1967 1874

2038 1.00 146.6 48.4 7.5 177 2040 0.43 0.00 0.00 0.000 6 0.004 0.000 2856 1969 1875

2069 1.00 146.6 46.1 7.2 180 2072 0.55 0.00 0.00 0.000 6 0.003 0.000 2974 1967 1874

2102 1.00 146.6 43.8 7.0 183 2104 0.62 0.00 0.00 0.000 6 0.003 0.000 2858 1968 1874

2134 1.00 146.6 41.7 6.8 186 2136 0.38 0.00 0.00 0.000 6 0.003 0.000 2935 1968 1875

2165 1.00 146.6 39.5 6.9 189 2167 0.30 0.00 0.00 0.000 6 0.003 0.000 2858 1968 1875

2197 1.00 146.6 37.2 7.0 192 2199 0.55 0.00 0.00 0.000 6 0.004 0.000 2971 1968 1874

2229 1.00 146.6 35.0 7.0 195 2231 0.52 0.00 0.00 0.000 6 0.003 0.000 2861 1968 1874

2261 1.00 146.6 32.8 7.0 198 2263 0.45 0.00 0.00 0.000 6 0.003 0.000 2936 1968 1874

2292 1.00 146.6 30.5 7.2 201 2298 0.38 2.83 0.00 0.000 4 0.004 0.003 2861 3609 1874

2393 1.00 146.6 22.7 7.5 209 2400 0.30 2.78 0.00 0.000 6 0.004 0.004 2936 1959 1875

2431 1.00 146.6 20.0 7.5 213 2433 0.35 0.00 0.00 0.000 6 0.003 0.000 2860 1959 1874

2463 1.00 146.6 17.6 7.4 216 2465 0.38 0.00 0.00 0.000 6 0.003 0.000 2935 1960 1874

2495 1.00 146.6 15.3 7.3 219 2497 0.38 0.00 0.00 0.000 6 0.003 0.000 2863 1960 1874

2527 1.00 146.6 13.0 7.3 222 2529 0.32 0.00 0.00 0.000 6 0.003 0.000 2904 1962 1874

2559 1.00 146.6 10.7 7.4 225 2560 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 1958 1874

2590 1.00 146.6 8.2 7.7 228 2592 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1958 1874

2622 1.00 146.6 6.1 6.9 231 2624 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1960 1875

2654 1.00 146.6 3.7 7.3 234 2655 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 1960 1874

2684 end climb: SURFACE_DEPTH_REACHED

state 2684 begin surface coast

2716 end surface coast: CONTROL_FINISHED_OK

state 2717 begin surface

ID	80	HD_C	5.5727e-05	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	10	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	382	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	90	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	350	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	1	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	50	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	65	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	-23859.883	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	0.0041149999	PITCH_MAXERRORS	10	ALTIM_BOTTOM_TURN_MARGIN	0	AR_RECORDBELOW	0.0
HD_B	0.014024	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	AR_NOTIFYAPOGEE	0.0

GPS1	123814,4806.781,-12222.535,19,1.1,19,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.111,0.128
_SM_DEPTHo	0.00	KALMAN_X	13179.0,20.5,16.6,-11604.2,48.0
_SM_ANGLEo	-50.0	KALMAN_Y	-3710.9,16.6,26.6,1698.9,-18.4
GPS2	124552,4806.751,-12222.545,31,1.1,31,18.0	MHEAD_RNG_PITCHd_Wd	301.2,2931,-13.2,-6.000
SPEED_LIMITS	0.060,0.170	D_GRID	100

FINISH	0.6,0.997116	_24V_AH	23.8,44.144
SM_CCo	2813,175.35,0.004,23,0,1046,350.04	_10V_AH	9.7,42.719
SM_GC	-0.00,0.00,0.00,175.35,0.000,0.000,0.004,145,2208,1046,-11.72,3.93,350.04	DATA_FILE_SIZE	6464,240
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	88503,8
TT8_MAMPS	0.048321	CFSIZE	260165632,246562816
HUMID	1565	ERRORS	0,0,0,0,0,0,0,0,1,0,0,95,134,23,0
INTERNAL_PRESSURE	12.5005	GPS	200708,134023,4806.952,-12222.759,9,1.1,9,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	37	4	4.13	SBE_CT	188	24	107.64
Roll_motor	33	3	3.08	nil	0	0	0.00
VBD_pump_during_apogee	242	4	26.55	nil	0	0	0.00
VBD_pump_during_surface	175	3	16.00	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	119	223	631.94
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.28
TT8	527	18	92.12
LPSleep	1398	0	5.29
TT8_Active	672	18	117.40
TT8_Sampling	327	38	120.59
TT8_CF8	662	44	282.83
TT8_Kalman	33	80	25.89
Analog_circuits	977	12	113.75
GPS_charging	0	0	0.00
Compass	247	26	62.32
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
90	end surface: CONTROL_FINISHED_OK
state	90	begin dive
94	-1.00	-146.6	0.0	0.0	0	165	0.00	0.00	-67.20	0.000	6	0.000	0.000	146	2208	3074
169	-1.00	-146.6	0.6	-0.7	7	190	12.18	2.65	0.00	0.000	4	0.004	0.004	2508	544	3075
269	-1.00	-146.6	15.2	-8.6	16	275	0.30	2.78	0.00	0.000	6	0.004	0.004	2433	2195	3075
307	-1.00	-146.6	18.3	-7.9	19	309	0.38	0.00	0.00	0.000	6	0.004	0.000	2511	2192	3076
338	-1.00	-146.6	20.6	-7.6	22	344	0.28	2.50	0.00	0.000	4	0.004	0.004	2436	3625	3075
383	-1.00	-146.6	23.9	-8.0	25	390	0.30	2.90	0.00	0.000	6	0.004	0.004	2512	1955	3075
420	-1.00	-146.6	26.9	-8.1	29	423	0.32	0.00	0.00	0.000	6	0.004	0.000	2474	1957	3074
452	-1.00	-146.6	29.3	-7.6	32	453	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	1958	3075
484	-1.00	-146.6	31.7	-7.6	35	485	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	1958	3075
516	-1.00	-146.6	34.1	-7.5	38	521	0.00	3.05	0.00	0.000	4	0.000	0.004	2471	3574	3076
601	-1.00	-146.6	40.4	-7.9	45	606	0.00	2.80	0.00	0.000	6	0.000	0.004	2474	1934	3075
639	-1.00	-146.6	43.2	-7.6	48	640	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	1934	3074
670	-1.00	-146.6	45.6	-7.3	51	671	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	1934	3076
702	-1.00	-146.6	47.9	-7.4	54	703	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1934	3075
734	-1.00	-146.6	50.3	-7.5	57	735	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1933	3074
766	-1.00	-146.6	52.7	-7.4	60	767	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1934	3074
798	-1.00	-146.6	55.0	-7.3	63	799	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1934	3075
829	-1.00	-146.6	57.4	-7.5	66	831	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1934	3075
862	-1.00	-146.6	59.8	-7.6	69	863	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	1935	3075
893	-1.00	-146.6	62.1	-7.1	72	894	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1934	3075
925	-1.00	-146.6	64.5	-7.6	75	926	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	1934	3075
957	-1.00	-146.6	67.0	-7.8	78	958	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	1935	3075
989	-1.00	-146.6	69.3	-7.5	81	990	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1934	3075
1021	-1.00	-146.6	71.6	-7.3	84	1022	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1934	3076
1052	-1.00	-146.6	74.0	-7.6	87	1054	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	1934	3075
1085	-1.00	-146.6	76.5	-7.4	90	1086	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	1935	3076
1116	-1.00	-146.6	78.8	-7.5	93	1118	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1933	3075
1149	-1.00	-146.6	81.2	-7.2	96	1150	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	1936	3075
1180	-1.00	-146.6	83.5	-7.2	99	1181	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	1935	3075
1212	-1.00	-146.6	85.8	-7.4	102	1213	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	1934	3075
1243	-1.00	-146.6	88.1	-7.2	105	1248	0.00	2.85	0.00	0.000	4	0.000	0.004	2474	3589	3075
1269	end dive: TARGET_DEPTH_EXCEEDED
state	1269	begin apogee
1279	-0.31	0.0	90.1	7.1	107	1406	0.82	0.00	121.82	0.005	6	0.004	0.000	2665	1954	2472
1407	end apogee: CONTROL_FINISHED_OK
state	1407	begin climb
1410	1.00	146.6	92.1	0.0	120	1536	1.33	0.00	120.60	0.005	6	0.004	0.000	2934	1953	1875
1564	1.00	146.6	83.7	7.7	135	1566	0.35	0.00	0.00	0.000	6	0.004	0.000	2861	1956	1876
1596	1.00	146.6	81.4	7.3	138	1598	0.38	0.00	0.00	0.000	6	0.004	0.000	2936	1953	1874
1627	1.00	146.6	79.0	7.5	141	1633	0.35	2.70	0.00	0.000	4	0.004	0.004	2860	3610	1874
1936	1.00	146.6	56.2	8.4	168	1942	0.30	2.80	0.00	0.000	6	0.003	0.004	2935	1969	1875
1974	1.00	146.6	53.2	8.2	171	1976	0.28	0.00	0.00	0.000	6	0.005	0.000	2858	1969	1875
2006	1.00	146.6	50.7	7.9	174	2008	0.43	0.00	0.00	0.000	6	0.003	0.000	2935	1967	1874
2038	1.00	146.6	48.4	7.5	177	2040	0.43	0.00	0.00	0.000	6	0.004	0.000	2856	1969	1875
2069	1.00	146.6	46.1	7.2	180	2072	0.55	0.00	0.00	0.000	6	0.003	0.000	2974	1967	1874
2102	1.00	146.6	43.8	7.0	183	2104	0.62	0.00	0.00	0.000	6	0.003	0.000	2858	1968	1874
2134	1.00	146.6	41.7	6.8	186	2136	0.38	0.00	0.00	0.000	6	0.003	0.000	2935	1968	1875
2165	1.00	146.6	39.5	6.9	189	2167	0.30	0.00	0.00	0.000	6	0.003	0.000	2858	1968	1875
2197	1.00	146.6	37.2	7.0	192	2199	0.55	0.00	0.00	0.000	6	0.004	0.000	2971	1968	1874
2229	1.00	146.6	35.0	7.0	195	2231	0.52	0.00	0.00	0.000	6	0.003	0.000	2861	1968	1874
2261	1.00	146.6	32.8	7.0	198	2263	0.45	0.00	0.00	0.000	6	0.003	0.000	2936	1968	1874
2292	1.00	146.6	30.5	7.2	201	2298	0.38	2.83	0.00	0.000	4	0.004	0.003	2861	3609	1874
2393	1.00	146.6	22.7	7.5	209	2400	0.30	2.78	0.00	0.000	6	0.004	0.004	2936	1959	1875
2431	1.00	146.6	20.0	7.5	213	2433	0.35	0.00	0.00	0.000	6	0.003	0.000	2860	1959	1874
2463	1.00	146.6	17.6	7.4	216	2465	0.38	0.00	0.00	0.000	6	0.003	0.000	2935	1960	1874
2495	1.00	146.6	15.3	7.3	219	2497	0.38	0.00	0.00	0.000	6	0.003	0.000	2863	1960	1874
2527	1.00	146.6	13.0	7.3	222	2529	0.32	0.00	0.00	0.000	6	0.003	0.000	2904	1962	1874
2559	1.00	146.6	10.7	7.4	225	2560	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	1958	1874
2590	1.00	146.6	8.2	7.7	228	2592	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1958	1874
2622	1.00	146.6	6.1	6.9	231	2624	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1960	1875
2654	1.00	146.6	3.7	7.3	234	2655	0.00	0.00	0.00	0.000	6	0.000	0.000	2903	1960	1874
2684	end climb: SURFACE_DEPTH_REACHED
state	2684	begin surface coast
2716	end surface coast: CONTROL_FINISHED_OK
state	2717	begin surface