Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 402 * 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 402 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 -24400.932 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 -24400.932

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 402 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 094029,4804.987,-12221.151,14,1.1,14,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.072,0.154

_SM_DEPTHo -0.00 KALMAN_X 13863.8,67.9,103.9,-10673.4,-41.3

_SM_ANGLEo -50.0 KALMAN_Y -3054.9,-44.8,-72.4,-2115.9,-52.5

GPS2 094730,4804.958,-12221.132,11,1.1,11,18.0 MHEAD_RNG_PITCHd_Wd 316.9,6657,-13.2,-6.000

SPEED_LIMITS 0.060,0.170 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.6,0.997038 _24V_AH 23.8,46.449

SM_CCo 2999,175.50,0.004,23,0,1046,350.29 _10V_AH 9.7,43.251

SM_GC 0.00,0.00,0.00,175.50,0.000,0.000,0.004,146,2215,1046,-11.72,4.04,350.29 DATA_FILE_SIZE 6435,256

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 87122,8

TT8_MAMPS 0.049088 CFSIZE 260165632,245981184

HUMID 1681 ERRORS 0,0,0,0,0,0,0,0,1,0,0,73,155,23,0

INTERNAL_PRESSURE 12.5005 GPS 210708,104523,4805.294,-12221.321,23,1.1,23,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 4 3.24 SBE_CT 201 24 115.03

Roll_motor 38 3 3.48 nil 0 0 0.00

VBD_pump_during_apogee 243 4 26.63 nil 0 0 0.00

VBD_pump_during_surface 175 3 16.02 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 104 223 554.93

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.58

TT8 555 18 97.07

LPSleep 1526 0 5.78

TT8_Active 667 18 116.61

TT8_Sampling 332 38 122.41

TT8_CF8 658 44 281.18

TT8_Kalman 33 80 25.89

Analog_circuits 998 12 116.23

GPS_charging 0 0 0.00

Compass 269 26 68.08

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

91 end surface: CONTROL_FINISHED_OK

state 91 begin dive

94 -1.00 -146.6 0.0 0.0 0 164 0.00 0.00 -67.18 0.000 6 0.000 0.000 284 2158 3080

168 -1.00 -146.6 0.6 -1.0 7 184 11.43 0.00 0.00 0.000 6 0.004 0.000 2523 2158 3079

216 -1.00 -146.6 7.5 -17.3 12 218 0.35 0.00 0.00 0.000 6 0.003 0.000 2444 2158 3079

247 -1.00 -146.6 9.8 -8.9 15 253 0.32 2.70 0.00 0.000 4 0.005 0.004 2481 525 3079

310 -1.00 -146.6 14.0 -7.1 20 315 0.00 2.60 0.00 0.000 6 0.000 0.004 2481 2182 3080

347 -1.00 -146.6 16.3 -6.3 23 349 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2182 3079

379 -1.00 -146.6 18.4 -6.3 26 380 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2182 3080

411 -1.00 -146.6 20.4 -6.3 29 412 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2182 3079

443 -1.00 -146.6 22.4 -6.2 32 444 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2182 3079

475 -1.00 -146.6 24.4 -6.4 35 477 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2182 3079

507 -1.00 -146.6 26.5 -6.4 38 508 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2182 3080

540 -1.00 -146.6 28.5 -6.4 41 541 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 2182 3080

570 -1.00 -146.6 30.5 -6.3 44 572 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2183 3080

602 -1.00 -146.6 32.5 -6.4 47 607 0.00 2.47 0.00 0.000 4 0.000 0.004 2483 3610 3080

713 -1.00 -146.6 39.5 -6.5 56 719 0.00 2.90 0.00 0.000 6 0.000 0.004 2481 1954 3079

751 -1.00 -146.6 41.9 -6.7 60 752 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1955 3079

783 -1.00 -146.6 44.0 -6.4 63 784 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1955 3080

815 -1.00 -146.6 46.1 -6.6 66 816 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1954 3080

847 -1.00 -146.6 48.1 -6.3 69 848 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1954 3080

879 -1.00 -146.6 50.2 -6.4 72 880 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 1954 3081

910 -1.00 -146.6 52.2 -6.7 75 912 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1954 3080

942 -1.00 -146.6 54.4 -6.6 78 943 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1954 3079

974 -1.00 -146.6 56.6 -6.8 81 975 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1955 3080

1006 -1.00 -146.6 58.7 -6.7 84 1007 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1954 3080

1038 -1.00 -146.6 60.8 -6.7 87 1039 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1955 3080

1070 -1.00 -146.6 62.8 -6.4 90 1071 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1954 3080

1102 -1.00 -146.6 64.9 -6.5 93 1103 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1956 3080

1133 -1.00 -146.6 67.2 -7.1 96 1135 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 1955 3080

1167 -1.00 -146.6 69.2 -6.6 99 1168 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1955 3080

1197 -1.00 -146.6 71.3 -6.5 102 1198 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1955 3080

1229 -1.00 -146.6 73.4 -6.6 105 1234 0.00 2.90 0.00 0.000 4 0.000 0.004 2481 3615 3080

1261 -1.00 -146.6 75.5 -6.2 107 1268 0.00 2.78 0.00 0.000 6 0.000 0.004 2482 1975 3080

1299 -1.00 -146.6 77.9 -6.7 111 1301 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1975 3081

1332 -1.00 -146.6 79.9 -6.2 114 1333 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1976 3080

1363 -1.00 -146.6 81.8 -6.0 117 1365 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1974 3079

1395 -1.00 -146.6 83.8 -6.2 120 1396 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1973 3080

1427 -1.00 -146.6 85.8 -6.3 123 1428 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1974 3080

1459 -1.00 -146.6 87.7 -6.0 126 1460 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 1975 3080

1491 -1.00 -146.6 89.6 -6.0 129 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1974 3080

1500 end dive: TARGET_DEPTH_EXCEEDED

state 1500 begin apogee

1507 -0.31 0.0 90.2 6.0 130 1634 0.93 0.00 122.80 0.005 6 0.004 0.000 2666 2176 2472

1635 end apogee: CONTROL_FINISHED_OK

state 1635 begin climb

1638 1.00 146.6 91.3 0.0 143 1764 1.40 0.00 120.38 0.005 6 0.004 0.000 2970 2175 1875

1792 1.00 146.6 82.2 7.7 158 1797 0.43 2.47 0.00 0.000 4 0.004 0.003 2856 3611 1874

2103 1.00 146.6 59.0 7.9 185 2112 0.60 2.80 0.00 0.000 6 0.003 0.004 2929 1969 1876

2144 1.00 146.6 55.5 8.2 189 2146 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1968 1874

2176 1.00 146.6 53.0 7.7 192 2177 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 1969 1876

2208 1.00 146.6 50.6 7.5 195 2210 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1969 1875

2240 1.00 146.6 48.3 7.4 198 2241 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1968 1874

2272 1.00 146.6 45.8 7.8 201 2273 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1969 1875

2304 1.00 146.6 43.4 7.5 204 2305 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 1968 1874

2335 1.00 146.6 41.0 7.4 207 2337 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1969 1874

2368 1.00 146.6 38.7 7.4 210 2369 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1969 1875

2399 1.00 146.6 36.5 6.9 213 2400 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1970 1875

2431 1.00 146.6 34.2 7.3 216 2432 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 1968 1875

2463 1.00 146.6 31.9 7.0 219 2468 0.00 2.78 0.00 0.000 4 0.000 0.004 2930 3634 1874

2670 1.00 146.6 17.1 7.0 237 2675 0.00 2.78 0.00 0.000 6 0.000 0.003 2929 1969 1875

2708 1.00 146.6 14.4 7.3 240 2712 0.00 2.33 0.00 0.000 4 0.000 0.004 2929 533 1876

2758 1.00 146.6 10.9 6.6 244 2763 0.00 2.97 0.00 0.000 6 0.000 0.004 2930 2258 1877

2796 1.00 146.6 8.3 6.9 247 2800 0.00 2.28 0.00 0.000 4 0.000 0.004 2930 3582 1875

2835 1.00 146.6 5.6 7.7 250 2840 0.00 2.65 0.00 0.000 6 0.000 0.004 2930 1959 1875

2873 1.00 146.6 2.6 7.9 253 2874 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1959 1876

2880 end climb: SURFACE_DEPTH_REACHED

state 2880 begin surface coast

2903 end surface coast: CONTROL_FINISHED_OK

state 2903 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	402	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	-24400.932	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	094029,4804.987,-12221.151,14,1.1,14,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.072,0.154
_SM_DEPTHo	-0.00	KALMAN_X	13863.8,67.9,103.9,-10673.4,-41.3
_SM_ANGLEo	-50.0	KALMAN_Y	-3054.9,-44.8,-72.4,-2115.9,-52.5
GPS2	094730,4804.958,-12221.132,11,1.1,11,18.0	MHEAD_RNG_PITCHd_Wd	316.9,6657,-13.2,-6.000
SPEED_LIMITS	0.060,0.170	D_GRID	100

FINISH	0.6,0.997038	_24V_AH	23.8,46.449
SM_CCo	2999,175.50,0.004,23,0,1046,350.29	_10V_AH	9.7,43.251
SM_GC	0.00,0.00,0.00,175.50,0.000,0.000,0.004,146,2215,1046,-11.72,4.04,350.29	DATA_FILE_SIZE	6435,256
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	87122,8
TT8_MAMPS	0.049088	CFSIZE	260165632,245981184
HUMID	1681	ERRORS	0,0,0,0,0,0,0,0,1,0,0,73,155,23,0
INTERNAL_PRESSURE	12.5005	GPS	210708,104523,4805.294,-12221.321,23,1.1,23,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	4	3.24	SBE_CT	201	24	115.03
Roll_motor	38	3	3.48	nil	0	0	0.00
VBD_pump_during_apogee	243	4	26.63	nil	0	0	0.00
VBD_pump_during_surface	175	3	16.02	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	104	223	554.93
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.58
TT8	555	18	97.07
LPSleep	1526	0	5.78
TT8_Active	667	18	116.61
TT8_Sampling	332	38	122.41
TT8_CF8	658	44	281.18
TT8_Kalman	33	80	25.89
Analog_circuits	998	12	116.23
GPS_charging	0	0	0.00
Compass	269	26	68.08
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
91	end surface: CONTROL_FINISHED_OK
state	91	begin dive
94	-1.00	-146.6	0.0	0.0	0	164	0.00	0.00	-67.18	0.000	6	0.000	0.000	284	2158	3080
168	-1.00	-146.6	0.6	-1.0	7	184	11.43	0.00	0.00	0.000	6	0.004	0.000	2523	2158	3079
216	-1.00	-146.6	7.5	-17.3	12	218	0.35	0.00	0.00	0.000	6	0.003	0.000	2444	2158	3079
247	-1.00	-146.6	9.8	-8.9	15	253	0.32	2.70	0.00	0.000	4	0.005	0.004	2481	525	3079
310	-1.00	-146.6	14.0	-7.1	20	315	0.00	2.60	0.00	0.000	6	0.000	0.004	2481	2182	3080
347	-1.00	-146.6	16.3	-6.3	23	349	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2182	3079
379	-1.00	-146.6	18.4	-6.3	26	380	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2182	3080
411	-1.00	-146.6	20.4	-6.3	29	412	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2182	3079
443	-1.00	-146.6	22.4	-6.2	32	444	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2182	3079
475	-1.00	-146.6	24.4	-6.4	35	477	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2182	3079
507	-1.00	-146.6	26.5	-6.4	38	508	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2182	3080
540	-1.00	-146.6	28.5	-6.4	41	541	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	2182	3080
570	-1.00	-146.6	30.5	-6.3	44	572	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2183	3080
602	-1.00	-146.6	32.5	-6.4	47	607	0.00	2.47	0.00	0.000	4	0.000	0.004	2483	3610	3080
713	-1.00	-146.6	39.5	-6.5	56	719	0.00	2.90	0.00	0.000	6	0.000	0.004	2481	1954	3079
751	-1.00	-146.6	41.9	-6.7	60	752	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1955	3079
783	-1.00	-146.6	44.0	-6.4	63	784	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1955	3080
815	-1.00	-146.6	46.1	-6.6	66	816	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1954	3080
847	-1.00	-146.6	48.1	-6.3	69	848	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1954	3080
879	-1.00	-146.6	50.2	-6.4	72	880	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	1954	3081
910	-1.00	-146.6	52.2	-6.7	75	912	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1954	3080
942	-1.00	-146.6	54.4	-6.6	78	943	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1954	3079
974	-1.00	-146.6	56.6	-6.8	81	975	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1955	3080
1006	-1.00	-146.6	58.7	-6.7	84	1007	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1954	3080
1038	-1.00	-146.6	60.8	-6.7	87	1039	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1955	3080
1070	-1.00	-146.6	62.8	-6.4	90	1071	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1954	3080
1102	-1.00	-146.6	64.9	-6.5	93	1103	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1956	3080
1133	-1.00	-146.6	67.2	-7.1	96	1135	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	1955	3080
1167	-1.00	-146.6	69.2	-6.6	99	1168	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1955	3080
1197	-1.00	-146.6	71.3	-6.5	102	1198	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1955	3080
1229	-1.00	-146.6	73.4	-6.6	105	1234	0.00	2.90	0.00	0.000	4	0.000	0.004	2481	3615	3080
1261	-1.00	-146.6	75.5	-6.2	107	1268	0.00	2.78	0.00	0.000	6	0.000	0.004	2482	1975	3080
1299	-1.00	-146.6	77.9	-6.7	111	1301	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1975	3081
1332	-1.00	-146.6	79.9	-6.2	114	1333	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1976	3080
1363	-1.00	-146.6	81.8	-6.0	117	1365	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	1974	3079
1395	-1.00	-146.6	83.8	-6.2	120	1396	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1973	3080
1427	-1.00	-146.6	85.8	-6.3	123	1428	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	1974	3080
1459	-1.00	-146.6	87.7	-6.0	126	1460	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	1975	3080
1491	-1.00	-146.6	89.6	-6.0	129	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1974	3080
1500	end dive: TARGET_DEPTH_EXCEEDED
state	1500	begin apogee
1507	-0.31	0.0	90.2	6.0	130	1634	0.93	0.00	122.80	0.005	6	0.004	0.000	2666	2176	2472
1635	end apogee: CONTROL_FINISHED_OK
state	1635	begin climb
1638	1.00	146.6	91.3	0.0	143	1764	1.40	0.00	120.38	0.005	6	0.004	0.000	2970	2175	1875
1792	1.00	146.6	82.2	7.7	158	1797	0.43	2.47	0.00	0.000	4	0.004	0.003	2856	3611	1874
2103	1.00	146.6	59.0	7.9	185	2112	0.60	2.80	0.00	0.000	6	0.003	0.004	2929	1969	1876
2144	1.00	146.6	55.5	8.2	189	2146	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1968	1874
2176	1.00	146.6	53.0	7.7	192	2177	0.00	0.00	0.00	0.000	6	0.000	0.000	2932	1969	1876
2208	1.00	146.6	50.6	7.5	195	2210	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1969	1875
2240	1.00	146.6	48.3	7.4	198	2241	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1968	1874
2272	1.00	146.6	45.8	7.8	201	2273	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1969	1875
2304	1.00	146.6	43.4	7.5	204	2305	0.00	0.00	0.00	0.000	6	0.000	0.000	2931	1968	1874
2335	1.00	146.6	41.0	7.4	207	2337	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1969	1874
2368	1.00	146.6	38.7	7.4	210	2369	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1969	1875
2399	1.00	146.6	36.5	6.9	213	2400	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1970	1875
2431	1.00	146.6	34.2	7.3	216	2432	0.00	0.00	0.00	0.000	6	0.000	0.000	2929	1968	1875
2463	1.00	146.6	31.9	7.0	219	2468	0.00	2.78	0.00	0.000	4	0.000	0.004	2930	3634	1874
2670	1.00	146.6	17.1	7.0	237	2675	0.00	2.78	0.00	0.000	6	0.000	0.003	2929	1969	1875
2708	1.00	146.6	14.4	7.3	240	2712	0.00	2.33	0.00	0.000	4	0.000	0.004	2929	533	1876
2758	1.00	146.6	10.9	6.6	244	2763	0.00	2.97	0.00	0.000	6	0.000	0.004	2930	2258	1877
2796	1.00	146.6	8.3	6.9	247	2800	0.00	2.28	0.00	0.000	4	0.000	0.004	2930	3582	1875
2835	1.00	146.6	5.6	7.7	250	2840	0.00	2.65	0.00	0.000	6	0.000	0.004	2930	1959	1875
2873	1.00	146.6	2.6	7.9	253	2874	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	1959	1876
2880	end climb: SURFACE_DEPTH_REACHED
state	2880	begin surface coast
2903	end surface coast: CONTROL_FINISHED_OK
state	2903	begin surface