Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 201 * 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 201 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 -29338.299 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 -29338.299

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 201 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 112927,4806.849,-12222.855,27,1.1,28,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.080,-0.135

_SM_DEPTHo -0.00 KALMAN_X 18102.0,-94.4,49.2,-17167.5,157.5

_SM_ANGLEo -50.0 KALMAN_Y -221.1,173.2,-178.7,-1384.4,-168.8

GPS2 113603,4806.846,-12222.873,11,1.1,11,18.0 MHEAD_RNG_PITCHd_Wd 131.3,4131,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.6,0.997446 _24V_AH 23.8,22.175

SM_CCo 4048,101.28,0.004,13,0,1250,300.00 _10V_AH 9.7,39.670

SM_GC -0.00,0.00,0.00,101.28,0.000,0.000,0.004,231,1962,1250,-11.32,-3.08,300.00 DATA_FILE_SIZE 9584,349

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 89413,8

TT8_MAMPS 0.048321 CFSIZE 260165632,252821504

HUMID 1603 ERRORS 0,0,0,0,0,0,0,0,1,0,0,105,149,13,0

INTERNAL_PRESSURE 12.5493 GPS 030808,124959,4806.542,-12222.369,26,1.1,26,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 40 4 4.42 SBE_CT 272 24 155.74

Roll_motor 37 3 3.45 nil 0 0 0.00

VBD_pump_during_apogee 276 4 30.24 nil 0 0 0.00

VBD_pump_during_surface 101 3 9.24 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 83 223 442.61

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 5.85

TT8 721 18 125.89

LPSleep 2185 0 8.27

TT8_Active 592 18 103.41

TT8_Sampling 466 38 171.94

TT8_CF8 707 44 302.09

TT8_Kalman 33 80 25.88

Analog_circuits 1020 12 118.77

GPS_charging 0 0 0.00

Compass 385 26 97.27

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

125 end surface: CONTROL_FINISHED_OK

state 125 begin dive

128 -0.84 -146.6 0.0 0.0 0 195 0.00 0.00 -60.65 0.000 6 0.000 0.000 144 1943 3077

198 -0.84 -146.6 0.6 -1.0 7 219 12.12 2.30 0.00 0.000 4 0.004 0.004 2555 500 3076

523 -0.84 -146.6 26.5 -6.0 36 529 0.30 3.05 0.00 0.000 6 0.004 0.004 2481 2185 3077

561 -0.84 -146.6 28.3 -5.1 39 563 0.32 0.00 0.00 0.000 6 0.004 0.000 2558 2182 3077

592 -0.84 -146.6 29.9 -5.1 42 594 0.38 0.00 0.00 0.000 6 0.004 0.000 2482 2185 3076

625 -0.84 -146.6 31.5 -5.0 45 627 0.40 0.00 0.00 0.000 6 0.003 0.000 2555 2185 3077

656 -0.84 -146.6 33.2 -5.1 48 658 0.38 0.00 0.00 0.000 6 0.004 0.000 2484 2184 3077

688 -0.84 -146.6 34.8 -5.0 51 690 0.40 0.00 0.00 0.000 6 0.004 0.000 2557 2185 3077

720 -0.84 -146.6 36.4 -5.2 54 722 0.40 0.00 0.00 0.000 6 0.004 0.000 2483 2185 3077

752 -0.84 -146.6 37.9 -4.9 57 754 0.40 0.00 0.00 0.000 6 0.003 0.000 2559 2184 3078

783 -0.84 -146.6 39.5 -5.0 60 786 0.38 0.00 0.00 0.000 6 0.004 0.000 2487 2185 3077

816 -0.84 -146.6 41.0 -4.8 63 818 0.32 0.00 0.00 0.000 6 0.004 0.000 2521 2186 3077

848 -0.84 -146.6 42.6 -4.7 66 849 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2185 3078

879 -0.84 -146.6 44.2 -4.9 69 881 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2185 3077

912 -0.84 -146.6 45.7 -4.9 72 913 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2184 3077

943 -0.84 -146.6 47.2 -4.8 75 944 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2185 3077

975 -0.84 -146.6 48.7 -4.8 78 976 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2184 3077

1007 -0.84 -146.6 50.3 -4.9 81 1008 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2184 3077

1039 -0.84 -146.6 51.8 -4.8 84 1040 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2186 3076

1071 -0.84 -146.6 53.3 -4.7 87 1072 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2185 3077

1102 -0.84 -146.6 54.8 -4.6 90 1104 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2187 3077

1135 -0.84 -146.6 56.3 -4.5 93 1136 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2185 3077

1166 -0.84 -146.6 57.7 -4.8 96 1167 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2185 3077

1199 -0.84 -146.6 59.2 -4.7 99 1200 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2184 3078

1230 -0.84 -146.6 60.6 -4.4 102 1235 0.00 3.03 0.00 0.000 4 0.000 0.004 2521 543 3077

1487 -0.84 -146.6 72.1 -4.7 124 1493 0.00 2.67 0.00 0.000 6 0.000 0.004 2521 2178 3076

1526 -0.84 -146.6 73.9 -4.8 128 1527 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2177 3077

1557 -0.84 -146.6 75.3 -4.4 131 1559 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2179 3077

1589 -0.84 -146.6 76.7 -4.5 134 1590 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2178 3077

1621 -0.84 -146.6 78.2 -4.8 137 1622 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2179 3078

1653 -0.84 -146.6 79.6 -4.3 140 1654 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2178 3077

1685 -0.84 -146.6 81.1 -4.7 143 1686 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2179 3077

1717 -0.84 -146.6 82.6 -4.8 146 1718 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2180 3077

1750 -0.84 -146.6 84.1 -4.8 149 1751 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2180 3076

1780 -0.84 -146.6 85.7 -4.8 152 1785 0.00 2.78 0.00 0.000 4 0.000 0.004 2522 518 3077

1978 end dive: TARGET_DEPTH_EXCEEDED

state 1978 begin apogee

1988 -0.31 0.0 95.0 4.7 169 2115 0.73 0.00 122.18 0.005 6 0.004 0.000 2673 2234 2473

2116 end apogee: CONTROL_FINISHED_OK

state 2116 begin climb

2119 0.84 146.6 96.5 0.0 182 2248 1.25 2.55 120.97 0.005 4 0.004 0.003 2930 3684 1875

2554 0.84 146.6 73.6 6.3 222 2564 0.60 3.03 0.00 0.000 6 0.003 0.004 2817 1987 1874

2596 0.84 146.6 70.7 6.8 226 2598 0.57 0.00 0.00 0.000 6 0.004 0.000 2928 1985 1875

2627 0.84 146.6 68.9 6.0 229 2630 0.57 0.00 0.00 0.000 6 0.004 0.000 2809 1986 1875

2659 0.84 146.6 67.1 5.7 232 2662 0.68 0.00 0.00 0.000 6 0.003 0.000 2921 1984 1875

2691 0.84 146.6 65.3 5.7 235 2696 0.35 2.30 0.00 0.000 4 0.004 0.004 2846 550 1875

2948 0.84 146.6 50.8 5.6 257 2955 0.30 2.90 0.00 0.000 6 0.004 0.004 2918 2224 1875

2988 0.84 146.6 48.6 5.7 261 2990 0.40 0.00 0.00 0.000 6 0.003 0.000 2841 2224 1875

3018 0.84 146.6 46.8 5.8 264 3023 0.30 2.17 0.00 0.000 4 0.004 0.004 2915 3570 1874

3327 0.84 146.6 30.2 6.4 291 3333 0.30 2.78 0.00 0.000 6 0.003 0.004 2841 1881 1874

3365 0.84 146.6 27.9 6.3 294 3367 0.35 0.00 0.00 0.000 6 0.003 0.000 2916 1882 1874

3396 0.84 146.6 26.1 5.6 297 3398 0.35 0.00 0.00 0.000 6 0.003 0.000 2842 1881 1876

3428 0.84 146.6 24.2 5.7 300 3430 0.38 0.00 0.00 0.000 6 0.003 0.000 2918 1881 1874

3460 0.84 146.6 22.6 5.4 303 3462 0.43 0.00 0.00 0.000 6 0.003 0.000 2838 1882 1875

3492 0.84 146.6 20.9 5.4 306 3494 0.30 0.00 0.00 0.000 6 0.003 0.000 2912 1882 1876

3524 0.84 146.6 19.2 5.2 309 3526 0.30 0.00 0.00 0.000 6 0.003 0.000 2838 1881 1874

3555 0.84 146.6 17.6 5.1 312 3558 0.40 0.00 0.00 0.000 6 0.004 0.000 2917 1882 1874

3587 0.84 146.6 15.9 5.3 315 3589 0.35 0.00 0.00 0.000 6 0.003 0.000 2841 1881 1875

3619 0.85 149.8 14.3 4.9 318 3629 0.30 0.00 4.65 0.004 6 0.003 0.000 2917 1881 1861

3662 0.85 150.6 12.2 5.0 322 3664 0.35 0.00 0.00 0.000 6 0.003 0.000 2843 1881 1861

3693 0.85 157.5 10.7 4.8 325 3704 0.40 0.00 8.20 0.004 6 0.004 0.000 2918 1881 1831

3735 0.88 174.6 8.8 4.5 329 3757 0.38 2.15 12.82 0.005 4 0.005 0.004 2840 558 1760

3852 0.89 183.0 3.6 4.8 339 3869 0.30 2.75 7.28 0.004 6 0.003 0.004 2917 2205 1726

3897 end climb: SURFACE_DEPTH_REACHED

state 3897 begin surface coast

3952 end surface coast: CONTROL_FINISHED_OK

state 3952 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	201	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	-29338.299	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	112927,4806.849,-12222.855,27,1.1,28,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.080,-0.135
_SM_DEPTHo	-0.00	KALMAN_X	18102.0,-94.4,49.2,-17167.5,157.5
_SM_ANGLEo	-50.0	KALMAN_Y	-221.1,173.2,-178.7,-1384.4,-168.8
GPS2	113603,4806.846,-12222.873,11,1.1,11,18.0	MHEAD_RNG_PITCHd_Wd	131.3,4131,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.6,0.997446	_24V_AH	23.8,22.175
SM_CCo	4048,101.28,0.004,13,0,1250,300.00	_10V_AH	9.7,39.670
SM_GC	-0.00,0.00,0.00,101.28,0.000,0.000,0.004,231,1962,1250,-11.32,-3.08,300.00	DATA_FILE_SIZE	9584,349
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	89413,8
TT8_MAMPS	0.048321	CFSIZE	260165632,252821504
HUMID	1603	ERRORS	0,0,0,0,0,0,0,0,1,0,0,105,149,13,0
INTERNAL_PRESSURE	12.5493	GPS	030808,124959,4806.542,-12222.369,26,1.1,26,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	40	4	4.42	SBE_CT	272	24	155.74
Roll_motor	37	3	3.45	nil	0	0	0.00
VBD_pump_during_apogee	276	4	30.24	nil	0	0	0.00
VBD_pump_during_surface	101	3	9.24	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	83	223	442.61
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	5.85
TT8	721	18	125.89
LPSleep	2185	0	8.27
TT8_Active	592	18	103.41
TT8_Sampling	466	38	171.94
TT8_CF8	707	44	302.09
TT8_Kalman	33	80	25.88
Analog_circuits	1020	12	118.77
GPS_charging	0	0	0.00
Compass	385	26	97.27
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
125	end surface: CONTROL_FINISHED_OK
state	125	begin dive
128	-0.84	-146.6	0.0	0.0	0	195	0.00	0.00	-60.65	0.000	6	0.000	0.000	144	1943	3077
198	-0.84	-146.6	0.6	-1.0	7	219	12.12	2.30	0.00	0.000	4	0.004	0.004	2555	500	3076
523	-0.84	-146.6	26.5	-6.0	36	529	0.30	3.05	0.00	0.000	6	0.004	0.004	2481	2185	3077
561	-0.84	-146.6	28.3	-5.1	39	563	0.32	0.00	0.00	0.000	6	0.004	0.000	2558	2182	3077
592	-0.84	-146.6	29.9	-5.1	42	594	0.38	0.00	0.00	0.000	6	0.004	0.000	2482	2185	3076
625	-0.84	-146.6	31.5	-5.0	45	627	0.40	0.00	0.00	0.000	6	0.003	0.000	2555	2185	3077
656	-0.84	-146.6	33.2	-5.1	48	658	0.38	0.00	0.00	0.000	6	0.004	0.000	2484	2184	3077
688	-0.84	-146.6	34.8	-5.0	51	690	0.40	0.00	0.00	0.000	6	0.004	0.000	2557	2185	3077
720	-0.84	-146.6	36.4	-5.2	54	722	0.40	0.00	0.00	0.000	6	0.004	0.000	2483	2185	3077
752	-0.84	-146.6	37.9	-4.9	57	754	0.40	0.00	0.00	0.000	6	0.003	0.000	2559	2184	3078
783	-0.84	-146.6	39.5	-5.0	60	786	0.38	0.00	0.00	0.000	6	0.004	0.000	2487	2185	3077
816	-0.84	-146.6	41.0	-4.8	63	818	0.32	0.00	0.00	0.000	6	0.004	0.000	2521	2186	3077
848	-0.84	-146.6	42.6	-4.7	66	849	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2185	3078
879	-0.84	-146.6	44.2	-4.9	69	881	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2185	3077
912	-0.84	-146.6	45.7	-4.9	72	913	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2184	3077
943	-0.84	-146.6	47.2	-4.8	75	944	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2185	3077
975	-0.84	-146.6	48.7	-4.8	78	976	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2184	3077
1007	-0.84	-146.6	50.3	-4.9	81	1008	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2184	3077
1039	-0.84	-146.6	51.8	-4.8	84	1040	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2186	3076
1071	-0.84	-146.6	53.3	-4.7	87	1072	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2185	3077
1102	-0.84	-146.6	54.8	-4.6	90	1104	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2187	3077
1135	-0.84	-146.6	56.3	-4.5	93	1136	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2185	3077
1166	-0.84	-146.6	57.7	-4.8	96	1167	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2185	3077
1199	-0.84	-146.6	59.2	-4.7	99	1200	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2184	3078
1230	-0.84	-146.6	60.6	-4.4	102	1235	0.00	3.03	0.00	0.000	4	0.000	0.004	2521	543	3077
1487	-0.84	-146.6	72.1	-4.7	124	1493	0.00	2.67	0.00	0.000	6	0.000	0.004	2521	2178	3076
1526	-0.84	-146.6	73.9	-4.8	128	1527	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2177	3077
1557	-0.84	-146.6	75.3	-4.4	131	1559	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2179	3077
1589	-0.84	-146.6	76.7	-4.5	134	1590	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2178	3077
1621	-0.84	-146.6	78.2	-4.8	137	1622	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2179	3078
1653	-0.84	-146.6	79.6	-4.3	140	1654	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2178	3077
1685	-0.84	-146.6	81.1	-4.7	143	1686	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2179	3077
1717	-0.84	-146.6	82.6	-4.8	146	1718	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2180	3077
1750	-0.84	-146.6	84.1	-4.8	149	1751	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2180	3076
1780	-0.84	-146.6	85.7	-4.8	152	1785	0.00	2.78	0.00	0.000	4	0.000	0.004	2522	518	3077
1978	end dive: TARGET_DEPTH_EXCEEDED
state	1978	begin apogee
1988	-0.31	0.0	95.0	4.7	169	2115	0.73	0.00	122.18	0.005	6	0.004	0.000	2673	2234	2473
2116	end apogee: CONTROL_FINISHED_OK
state	2116	begin climb
2119	0.84	146.6	96.5	0.0	182	2248	1.25	2.55	120.97	0.005	4	0.004	0.003	2930	3684	1875
2554	0.84	146.6	73.6	6.3	222	2564	0.60	3.03	0.00	0.000	6	0.003	0.004	2817	1987	1874
2596	0.84	146.6	70.7	6.8	226	2598	0.57	0.00	0.00	0.000	6	0.004	0.000	2928	1985	1875
2627	0.84	146.6	68.9	6.0	229	2630	0.57	0.00	0.00	0.000	6	0.004	0.000	2809	1986	1875
2659	0.84	146.6	67.1	5.7	232	2662	0.68	0.00	0.00	0.000	6	0.003	0.000	2921	1984	1875
2691	0.84	146.6	65.3	5.7	235	2696	0.35	2.30	0.00	0.000	4	0.004	0.004	2846	550	1875
2948	0.84	146.6	50.8	5.6	257	2955	0.30	2.90	0.00	0.000	6	0.004	0.004	2918	2224	1875
2988	0.84	146.6	48.6	5.7	261	2990	0.40	0.00	0.00	0.000	6	0.003	0.000	2841	2224	1875
3018	0.84	146.6	46.8	5.8	264	3023	0.30	2.17	0.00	0.000	4	0.004	0.004	2915	3570	1874
3327	0.84	146.6	30.2	6.4	291	3333	0.30	2.78	0.00	0.000	6	0.003	0.004	2841	1881	1874
3365	0.84	146.6	27.9	6.3	294	3367	0.35	0.00	0.00	0.000	6	0.003	0.000	2916	1882	1874
3396	0.84	146.6	26.1	5.6	297	3398	0.35	0.00	0.00	0.000	6	0.003	0.000	2842	1881	1876
3428	0.84	146.6	24.2	5.7	300	3430	0.38	0.00	0.00	0.000	6	0.003	0.000	2918	1881	1874
3460	0.84	146.6	22.6	5.4	303	3462	0.43	0.00	0.00	0.000	6	0.003	0.000	2838	1882	1875
3492	0.84	146.6	20.9	5.4	306	3494	0.30	0.00	0.00	0.000	6	0.003	0.000	2912	1882	1876
3524	0.84	146.6	19.2	5.2	309	3526	0.30	0.00	0.00	0.000	6	0.003	0.000	2838	1881	1874
3555	0.84	146.6	17.6	5.1	312	3558	0.40	0.00	0.00	0.000	6	0.004	0.000	2917	1882	1874
3587	0.84	146.6	15.9	5.3	315	3589	0.35	0.00	0.00	0.000	6	0.003	0.000	2841	1881	1875
3619	0.85	149.8	14.3	4.9	318	3629	0.30	0.00	4.65	0.004	6	0.003	0.000	2917	1881	1861
3662	0.85	150.6	12.2	5.0	322	3664	0.35	0.00	0.00	0.000	6	0.003	0.000	2843	1881	1861
3693	0.85	157.5	10.7	4.8	325	3704	0.40	0.00	8.20	0.004	6	0.004	0.000	2918	1881	1831
3735	0.88	174.6	8.8	4.5	329	3757	0.38	2.15	12.82	0.005	4	0.005	0.004	2840	558	1760
3852	0.89	183.0	3.6	4.8	339	3869	0.30	2.75	7.28	0.004	6	0.003	0.004	2917	2205	1726
3897	end climb: SURFACE_DEPTH_REACHED
state	3897	begin surface coast
3952	end surface coast: CONTROL_FINISHED_OK
state	3952	begin surface