Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 383 * 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 383 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 -23885.668 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 -23885.668

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 383 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 134023,4806.952,-12222.759,9,1.1,9,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.106,0.133

_SM_DEPTHo -0.00 KALMAN_X 13199.9,23.7,38.9,-11937.2,36.9

_SM_ANGLEo -50.0 KALMAN_Y -3724.1,16.0,0.9,2081.5,-32.4

GPS2 134755,4806.936,-12222.777,24,1.1,25,18.0 MHEAD_RNG_PITCHd_Wd 303.4,2483,-13.2,-6.000

SPEED_LIMITS 0.060,0.170 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.8,0.997114 _24V_AH 23.8,44.259

SM_CCo 2973,175.30,0.004,23,0,1045,350.04 _10V_AH 9.7,42.746

SM_GC 0.00,0.00,0.00,175.30,0.000,0.000,0.004,148,2175,1045,-11.71,2.94,350.04 DATA_FILE_SIZE 6457,254

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 88650,8

TT8_MAMPS 0.049088 CFSIZE 260165632,246530048

HUMID 1533 ERRORS 0,0,0,0,0,0,0,0,1,0,0,80,165,23,0

INTERNAL_PRESSURE 12.5005 GPS 200708,144502,4807.192,-12223.004,5,1.1,6,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 3 2.74 SBE_CT 199 24 113.85

Roll_motor 39 3 3.59 nil 0 0 0.00

VBD_pump_during_apogee 243 4 26.67 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 118 223 631.14

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 50 12.20

TT8 549 18 95.88

LPSleep 1507 0 5.70

TT8_Active 678 18 118.39

TT8_Sampling 333 38 122.99

TT8_CF8 673 44 287.54

TT8_Kalman 33 80 25.90

Analog_circuits 998 12 116.19

GPS_charging 0 0 0.00

Compass 258 26 65.32

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 -67.53 0.000 6 0.000 0.000 146 2208 3079

169 -1.00 -146.6 0.6 -0.7 7 190 12.18 2.30 0.00 0.000 4 0.004 0.004 2521 3653 3079

195 -1.00 -146.6 5.1 -19.8 9 202 0.30 3.03 0.00 0.000 6 0.003 0.004 2448 1908 3080

233 -1.00 -146.6 12.1 -19.1 13 239 0.30 2.85 0.00 0.000 4 0.004 0.004 2522 3637 3079

307 -1.00 -146.6 18.3 -8.2 19 313 0.30 3.03 0.00 0.000 6 0.004 0.004 2447 1899 3079

344 -1.00 -146.6 21.3 -8.0 22 346 0.30 0.00 0.00 0.000 6 0.004 0.000 2522 1899 3079

376 -1.00 -146.6 23.7 -7.5 25 378 0.32 0.00 0.00 0.000 6 0.003 0.000 2483 1900 3080

408 -1.00 -146.6 26.1 -7.5 28 409 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1900 3080

440 -1.00 -146.6 28.4 -7.3 31 441 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1900 3080

472 -1.00 -146.6 30.7 -7.4 34 473 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1900 3079

504 -1.00 -146.6 33.0 -7.3 37 505 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1900 3079

536 -1.00 -146.6 35.4 -7.5 40 537 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1900 3080

567 -1.00 -146.6 37.5 -6.9 43 572 0.00 2.90 0.00 0.000 4 0.000 0.004 2485 3643 3079

607 -1.00 -146.6 40.5 -7.3 46 612 0.00 3.03 0.00 0.000 6 0.000 0.004 2483 1881 3079

644 -1.00 -146.6 43.1 -7.0 49 645 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1881 3079

676 -1.00 -146.6 45.4 -7.0 52 677 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1882 3079

708 -1.00 -146.6 47.5 -6.9 55 709 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1880 3080

740 -1.00 -146.6 49.7 -6.8 58 741 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1882 3080

771 -1.00 -146.6 51.8 -6.7 61 773 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1881 3079

804 -1.00 -146.6 54.0 -7.0 64 805 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1881 3078

835 -1.00 -146.6 56.2 -6.6 67 836 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1881 3079

867 -1.00 -146.6 58.3 -6.7 70 868 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1881 3081

899 -1.00 -146.6 60.5 -6.8 73 900 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1879 3080

931 -1.00 -146.6 62.7 -6.8 76 932 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1879 3080

963 -1.00 -146.6 64.8 -6.8 79 964 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1882 3080

994 -1.00 -146.6 66.9 -6.6 82 996 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 1880 3079

1027 -1.00 -146.6 69.1 -6.7 85 1028 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1882 3079

1058 -1.00 -146.6 71.1 -6.6 88 1059 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1881 3079

1091 -1.00 -146.6 73.4 -6.8 91 1093 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1883 3079

1122 -1.00 -146.6 75.5 -6.7 94 1127 0.00 2.95 0.00 0.000 4 0.000 0.004 2484 3617 3080

1161 -1.00 -146.6 78.3 -7.3 97 1166 0.00 2.90 0.00 0.000 6 0.000 0.004 2484 1973 3080

1199 -1.00 -146.6 80.9 -7.2 100 1200 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1975 3079

1230 -1.00 -146.6 83.0 -6.6 103 1232 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 1974 3080

1262 -1.00 -146.6 85.2 -6.9 106 1263 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1975 3080

1294 -1.00 -146.6 87.3 -6.6 109 1295 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1976 3079

1326 -1.00 -146.6 89.4 -6.6 112 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 1975 3081

1334 end dive: TARGET_DEPTH_EXCEEDED

state 1334 begin apogee

1341 -0.31 0.0 90.1 6.5 113 1469 0.95 0.00 122.75 0.005 6 0.004 0.000 2675 2175 2471

1470 end apogee: CONTROL_FINISHED_OK

state 1470 begin climb

1473 1.00 146.6 92.3 0.0 126 1599 1.12 0.00 120.78 0.005 6 0.004 0.000 2936 2174 1875

1626 1.00 146.6 84.2 7.3 141 1628 0.32 0.00 0.00 0.000 6 0.004 0.000 2901 2173 1875

1658 1.00 146.6 82.0 6.9 144 1659 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 2174 1874

1689 1.00 146.6 79.8 6.9 147 1691 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 2175 1875

1721 1.00 146.6 77.7 6.9 150 1726 0.00 2.62 0.00 0.000 4 0.000 0.004 2903 3639 1875

1967 1.00 146.6 60.3 7.1 171 1973 0.00 2.78 0.00 0.000 6 0.000 0.004 2900 1969 1875

2005 1.00 146.6 57.6 7.4 175 2006 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 1970 1876

2037 1.00 146.6 55.4 7.2 178 2038 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1966 1876

2069 1.00 146.6 53.1 7.0 181 2070 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1967 1875

2100 1.00 146.6 50.9 7.0 184 2102 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1968 1875

2132 1.00 146.6 48.6 7.3 187 2134 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1967 1876

2165 1.00 146.6 46.4 6.7 190 2166 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1969 1875

2196 1.00 146.6 44.2 6.9 193 2197 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1968 1876

2228 1.00 146.6 42.2 6.5 196 2229 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 1968 1874

2260 1.00 146.6 40.0 6.8 199 2261 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 1969 1874

2292 1.00 146.6 37.9 6.7 202 2293 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1968 1875

2323 1.00 146.6 35.8 6.6 205 2325 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1968 1875

2355 1.00 146.6 33.8 6.5 208 2357 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1966 1875

2388 1.00 146.6 31.7 6.4 211 2389 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1969 1874

2419 1.00 146.6 29.7 6.5 214 2420 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1969 1876

2452 1.00 146.6 27.5 6.4 217 2453 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 1970 1875

2483 1.00 146.6 25.4 6.8 220 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1968 1876

2515 1.00 146.6 23.3 6.8 223 2519 0.00 2.65 0.00 0.000 4 0.000 0.004 2902 3604 1875

2794 1.00 146.6 4.7 6.0 247 2801 0.00 3.20 0.00 0.000 6 0.000 0.003 2901 1973 1874

2832 1.00 146.6 2.3 6.5 251 2836 0.00 2.28 0.00 0.000 4 0.000 0.004 2902 516 1875

2839 end climb: SURFACE_DEPTH_REACHED

state 2839 begin surface coast

2873 end surface coast: CONTROL_FINISHED_OK

state 2874 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	383	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	-23885.668	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	134023,4806.952,-12222.759,9,1.1,9,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.106,0.133
_SM_DEPTHo	-0.00	KALMAN_X	13199.9,23.7,38.9,-11937.2,36.9
_SM_ANGLEo	-50.0	KALMAN_Y	-3724.1,16.0,0.9,2081.5,-32.4
GPS2	134755,4806.936,-12222.777,24,1.1,25,18.0	MHEAD_RNG_PITCHd_Wd	303.4,2483,-13.2,-6.000
SPEED_LIMITS	0.060,0.170	D_GRID	100

FINISH	0.8,0.997114	_24V_AH	23.8,44.259
SM_CCo	2973,175.30,0.004,23,0,1045,350.04	_10V_AH	9.7,42.746
SM_GC	0.00,0.00,0.00,175.30,0.000,0.000,0.004,148,2175,1045,-11.71,2.94,350.04	DATA_FILE_SIZE	6457,254
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	88650,8
TT8_MAMPS	0.049088	CFSIZE	260165632,246530048
HUMID	1533	ERRORS	0,0,0,0,0,0,0,0,1,0,0,80,165,23,0
INTERNAL_PRESSURE	12.5005	GPS	200708,144502,4807.192,-12223.004,5,1.1,6,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	3	2.74	SBE_CT	199	24	113.85
Roll_motor	39	3	3.59	nil	0	0	0.00
VBD_pump_during_apogee	243	4	26.67	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	118	223	631.14
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	50	12.20
TT8	549	18	95.88
LPSleep	1507	0	5.70
TT8_Active	678	18	118.39
TT8_Sampling	333	38	122.99
TT8_CF8	673	44	287.54
TT8_Kalman	33	80	25.90
Analog_circuits	998	12	116.19
GPS_charging	0	0	0.00
Compass	258	26	65.32
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	-67.53	0.000	6	0.000	0.000	146	2208	3079
169	-1.00	-146.6	0.6	-0.7	7	190	12.18	2.30	0.00	0.000	4	0.004	0.004	2521	3653	3079
195	-1.00	-146.6	5.1	-19.8	9	202	0.30	3.03	0.00	0.000	6	0.003	0.004	2448	1908	3080
233	-1.00	-146.6	12.1	-19.1	13	239	0.30	2.85	0.00	0.000	4	0.004	0.004	2522	3637	3079
307	-1.00	-146.6	18.3	-8.2	19	313	0.30	3.03	0.00	0.000	6	0.004	0.004	2447	1899	3079
344	-1.00	-146.6	21.3	-8.0	22	346	0.30	0.00	0.00	0.000	6	0.004	0.000	2522	1899	3079
376	-1.00	-146.6	23.7	-7.5	25	378	0.32	0.00	0.00	0.000	6	0.003	0.000	2483	1900	3080
408	-1.00	-146.6	26.1	-7.5	28	409	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1900	3080
440	-1.00	-146.6	28.4	-7.3	31	441	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1900	3080
472	-1.00	-146.6	30.7	-7.4	34	473	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1900	3079
504	-1.00	-146.6	33.0	-7.3	37	505	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1900	3079
536	-1.00	-146.6	35.4	-7.5	40	537	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1900	3080
567	-1.00	-146.6	37.5	-6.9	43	572	0.00	2.90	0.00	0.000	4	0.000	0.004	2485	3643	3079
607	-1.00	-146.6	40.5	-7.3	46	612	0.00	3.03	0.00	0.000	6	0.000	0.004	2483	1881	3079
644	-1.00	-146.6	43.1	-7.0	49	645	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1881	3079
676	-1.00	-146.6	45.4	-7.0	52	677	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1882	3079
708	-1.00	-146.6	47.5	-6.9	55	709	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1880	3080
740	-1.00	-146.6	49.7	-6.8	58	741	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1882	3080
771	-1.00	-146.6	51.8	-6.7	61	773	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1881	3079
804	-1.00	-146.6	54.0	-7.0	64	805	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1881	3078
835	-1.00	-146.6	56.2	-6.6	67	836	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1881	3079
867	-1.00	-146.6	58.3	-6.7	70	868	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1881	3081
899	-1.00	-146.6	60.5	-6.8	73	900	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1879	3080
931	-1.00	-146.6	62.7	-6.8	76	932	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1879	3080
963	-1.00	-146.6	64.8	-6.8	79	964	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1882	3080
994	-1.00	-146.6	66.9	-6.6	82	996	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	1880	3079
1027	-1.00	-146.6	69.1	-6.7	85	1028	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1882	3079
1058	-1.00	-146.6	71.1	-6.6	88	1059	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1881	3079
1091	-1.00	-146.6	73.4	-6.8	91	1093	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1883	3079
1122	-1.00	-146.6	75.5	-6.7	94	1127	0.00	2.95	0.00	0.000	4	0.000	0.004	2484	3617	3080
1161	-1.00	-146.6	78.3	-7.3	97	1166	0.00	2.90	0.00	0.000	6	0.000	0.004	2484	1973	3080
1199	-1.00	-146.6	80.9	-7.2	100	1200	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1975	3079
1230	-1.00	-146.6	83.0	-6.6	103	1232	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	1974	3080
1262	-1.00	-146.6	85.2	-6.9	106	1263	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1975	3080
1294	-1.00	-146.6	87.3	-6.6	109	1295	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1976	3079
1326	-1.00	-146.6	89.4	-6.6	112	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	1975	3081
1334	end dive: TARGET_DEPTH_EXCEEDED
state	1334	begin apogee
1341	-0.31	0.0	90.1	6.5	113	1469	0.95	0.00	122.75	0.005	6	0.004	0.000	2675	2175	2471
1470	end apogee: CONTROL_FINISHED_OK
state	1470	begin climb
1473	1.00	146.6	92.3	0.0	126	1599	1.12	0.00	120.78	0.005	6	0.004	0.000	2936	2174	1875
1626	1.00	146.6	84.2	7.3	141	1628	0.32	0.00	0.00	0.000	6	0.004	0.000	2901	2173	1875
1658	1.00	146.6	82.0	6.9	144	1659	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	2174	1874
1689	1.00	146.6	79.8	6.9	147	1691	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	2175	1875
1721	1.00	146.6	77.7	6.9	150	1726	0.00	2.62	0.00	0.000	4	0.000	0.004	2903	3639	1875
1967	1.00	146.6	60.3	7.1	171	1973	0.00	2.78	0.00	0.000	6	0.000	0.004	2900	1969	1875
2005	1.00	146.6	57.6	7.4	175	2006	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	1970	1876
2037	1.00	146.6	55.4	7.2	178	2038	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1966	1876
2069	1.00	146.6	53.1	7.0	181	2070	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1967	1875
2100	1.00	146.6	50.9	7.0	184	2102	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1968	1875
2132	1.00	146.6	48.6	7.3	187	2134	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1967	1876
2165	1.00	146.6	46.4	6.7	190	2166	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1969	1875
2196	1.00	146.6	44.2	6.9	193	2197	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1968	1876
2228	1.00	146.6	42.2	6.5	196	2229	0.00	0.00	0.00	0.000	6	0.000	0.000	2903	1968	1874
2260	1.00	146.6	40.0	6.8	199	2261	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	1969	1874
2292	1.00	146.6	37.9	6.7	202	2293	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1968	1875
2323	1.00	146.6	35.8	6.6	205	2325	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1968	1875
2355	1.00	146.6	33.8	6.5	208	2357	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1966	1875
2388	1.00	146.6	31.7	6.4	211	2389	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1969	1874
2419	1.00	146.6	29.7	6.5	214	2420	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1969	1876
2452	1.00	146.6	27.5	6.4	217	2453	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	1970	1875
2483	1.00	146.6	25.4	6.8	220	2484	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1968	1876
2515	1.00	146.6	23.3	6.8	223	2519	0.00	2.65	0.00	0.000	4	0.000	0.004	2902	3604	1875
2794	1.00	146.6	4.7	6.0	247	2801	0.00	3.20	0.00	0.000	6	0.000	0.003	2901	1973	1874
2832	1.00	146.6	2.3	6.5	251	2836	0.00	2.28	0.00	0.000	4	0.000	0.004	2902	516	1875
2839	end climb: SURFACE_DEPTH_REACHED
state	2839	begin surface coast
2873	end surface coast: CONTROL_FINISHED_OK
state	2874	begin surface