Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 206 * 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 206 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 -29435.027 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 -29435.027

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 206 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 181416,4805.388,-12221.150,33,1.1,33,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.007,-0.157

_SM_DEPTHo -0.00 KALMAN_X 18743.3,160.3,-5.5,-15788.5,58.9

_SM_ANGLEo -50.0 KALMAN_Y -305.3,-185.7,157.9,-4024.5,-6.0

GPS2 182117,4805.363,-12221.073,32,1.1,32,18.0 MHEAD_RNG_PITCHd_Wd 159.5,678,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.5,0.997378 _24V_AH 23.7,22.898

SM_CCo 4091,0.00,0.000,0,0,1128,329.93 _10V_AH 9.7,39.827

SM_GC -0.00,14.05,0.00,0.00,0.003,0.000,0.000,145,2150,1128,-11.70,2.26,329.93 DATA_FILE_SIZE 9592,341

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 75833,8

TT8_MAMPS 0.049855 CFSIZE 260165632,252665856

HUMID 1674 ERRORS 0,0,0,0,0,0,0,0,1,0,0,71,250,0,0

INTERNAL_PRESSURE 12.5493 GPS 030808,193253,4805.013,-12221.116,14,1.1,14,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 3 2.67 SBE_CT 264 24 150.20

Roll_motor 60 3 5.52 nil 0 0 0.00

VBD_pump_during_apogee 370 4 40.40 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 83 223 441.28

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 15.77

TT8 658 18 115.05

LPSleep 2182 0 8.26

TT8_Active 533 18 93.11

TT8_Sampling 521 38 192.08

TT8_CF8 673 44 287.59

TT8_Kalman 33 80 25.88

Analog_circuits 980 12 114.09

GPS_charging 0 0 0.00

Compass 421 26 106.27

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 0 230 0.00 0.00 -95.75 0.000 6 0.000 0.000 145 1910 3075

233 -0.84 -146.6 4.0 -7.6 10 254 11.82 3.15 0.00 0.000 4 0.004 0.003 2531 3638 3077

558 -0.84 -146.6 28.4 -7.7 39 564 0.30 3.03 0.00 0.000 6 0.003 0.004 2459 1883 3076

595 -0.84 -146.6 30.4 -5.4 42 601 0.32 2.97 0.00 0.000 4 0.004 0.004 2496 3642 3076

871 -0.84 -146.6 42.7 -6.4 66 876 0.00 3.08 0.00 0.000 6 0.000 0.004 2495 1884 3076

909 -0.84 -146.6 44.9 -6.0 69 910 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 1883 3076

940 -0.84 -146.6 46.8 -5.9 72 942 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1884 3076

973 -0.84 -146.6 48.8 -6.2 75 978 0.00 3.03 0.00 0.000 4 0.000 0.004 2496 3620 3076

1091 -0.84 -146.6 54.9 -4.8 85 1096 0.00 3.05 0.00 0.000 6 0.000 0.004 2496 1948 3076

1129 -0.84 -146.6 56.6 -4.4 88 1130 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1949 3077

1160 -0.84 -146.6 57.9 -4.4 91 1162 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1948 3076

1192 -0.84 -146.6 59.5 -4.8 94 1197 0.00 2.83 0.00 0.000 4 0.000 0.004 2497 3594 3077

1501 -0.84 -146.6 74.0 -4.8 121 1506 0.00 2.78 0.00 0.000 6 0.000 0.003 2495 1951 3076

1539 -0.84 -146.6 75.8 -4.9 124 1544 0.00 2.90 0.00 0.000 4 0.000 0.004 2495 3624 3077

1848 -0.84 -146.6 90.8 -4.7 151 1853 0.00 2.65 0.00 0.000 6 0.000 0.004 2496 1962 3076

1885 -0.84 -146.6 92.9 -5.6 154 1887 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1961 3076

1918 -0.84 -146.6 94.5 -5.0 157 1919 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 1963 3076

1925 end dive: TARGET_DEPTH_EXCEEDED

state 1925 begin apogee

1932 -0.31 0.0 95.1 4.9 158 2059 0.80 0.00 121.68 0.005 6 0.004 0.000 2681 2180 2473

2060 end apogee: CONTROL_FINISHED_OK

state 2060 begin climb

2063 0.84 146.6 97.0 0.0 171 2189 1.12 0.00 121.00 0.005 6 0.004 0.000 2914 2179 1875

2216 0.84 146.6 89.9 6.2 186 2218 0.32 0.00 0.00 0.000 6 0.003 0.000 2877 2178 1874

2248 0.84 146.6 87.9 6.4 189 2249 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 2180 1875

2280 0.84 146.6 85.9 6.4 192 2281 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2178 1875

2312 0.84 146.6 83.9 6.2 195 2313 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2179 1874

2344 0.84 146.6 82.1 6.0 198 2348 0.00 2.30 0.00 0.000 4 0.000 0.004 2878 3605 1874

2543 0.84 146.6 70.0 6.5 215 2550 0.00 2.80 0.00 0.000 6 0.000 0.004 2877 1932 1875

2582 0.84 146.6 67.8 6.1 219 2586 0.00 2.65 0.00 0.000 4 0.000 0.004 2878 507 1874

2890 0.84 146.6 49.1 6.2 246 2895 0.00 3.05 0.00 0.000 6 0.000 0.004 2877 2256 1874

2927 0.84 146.6 47.0 5.7 249 2932 0.00 2.92 0.00 0.000 4 0.000 0.004 2877 511 1875

2948 0.84 146.6 45.7 5.8 250 2955 0.00 3.03 0.00 0.000 6 0.000 0.004 2875 2261 1874

2988 0.84 146.6 43.8 5.3 254 2989 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2264 1874

3018 0.84 146.6 42.1 5.2 257 3019 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2262 1874

3050 0.84 147.0 40.5 5.0 260 3051 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2263 1874

3082 0.85 150.8 39.0 4.9 263 3092 0.00 0.00 5.45 0.005 6 0.000 0.000 2877 2262 1858

3124 0.85 150.8 36.8 5.2 267 3125 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 2264 1858

3156 0.85 150.8 35.2 5.2 270 3157 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2262 1858

3187 0.85 150.8 33.5 5.3 273 3189 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2263 1858

3219 0.85 150.8 31.7 5.5 276 3221 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 2263 1858

3251 0.85 150.8 30.1 5.2 279 3257 0.00 3.15 0.00 0.000 4 0.000 0.004 2877 486 1858

3560 0.85 150.8 13.8 5.9 306 3565 0.00 2.83 0.00 0.000 6 0.000 0.004 2879 2235 1858

3597 0.85 150.8 11.7 5.6 309 3599 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 2235 1859

3629 0.86 165.6 10.3 4.6 312 3649 0.00 0.00 14.40 0.005 6 0.000 0.000 2878 2234 1796

3681 0.94 224.6 8.6 3.2 317 3725 0.00 2.12 38.58 0.005 4 0.000 0.004 2880 3582 1555

3783 0.98 255.9 5.6 4.1 326 3810 0.30 2.72 21.52 0.005 6 0.004 0.004 2956 1928 1430

3841 1.07 329.5 4.1 2.8 332 3894 0.28 1.50 47.78 0.005 3 0.004 0.003 2880 997 1127

3895 end climb: SURFACE_DEPTH_REACHED

state 3895 begin surface coast

3933 end surface coast: CONTROL_FINISHED_OK

state 3933 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	206	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	-29435.027	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	181416,4805.388,-12221.150,33,1.1,33,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.007,-0.157
_SM_DEPTHo	-0.00	KALMAN_X	18743.3,160.3,-5.5,-15788.5,58.9
_SM_ANGLEo	-50.0	KALMAN_Y	-305.3,-185.7,157.9,-4024.5,-6.0
GPS2	182117,4805.363,-12221.073,32,1.1,32,18.0	MHEAD_RNG_PITCHd_Wd	159.5,678,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.5,0.997378	_24V_AH	23.7,22.898
SM_CCo	4091,0.00,0.000,0,0,1128,329.93	_10V_AH	9.7,39.827
SM_GC	-0.00,14.05,0.00,0.00,0.003,0.000,0.000,145,2150,1128,-11.70,2.26,329.93	DATA_FILE_SIZE	9592,341
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	75833,8
TT8_MAMPS	0.049855	CFSIZE	260165632,252665856
HUMID	1674	ERRORS	0,0,0,0,0,0,0,0,1,0,0,71,250,0,0
INTERNAL_PRESSURE	12.5493	GPS	030808,193253,4805.013,-12221.116,14,1.1,14,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	3	2.67	SBE_CT	264	24	150.20
Roll_motor	60	3	5.52	nil	0	0	0.00
VBD_pump_during_apogee	370	4	40.40	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	83	223	441.28
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	15.77
TT8	658	18	115.05
LPSleep	2182	0	8.26
TT8_Active	533	18	93.11
TT8_Sampling	521	38	192.08
TT8_CF8	673	44	287.59
TT8_Kalman	33	80	25.88
Analog_circuits	980	12	114.09
GPS_charging	0	0	0.00
Compass	421	26	106.27
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	230	0.00	0.00	-95.75	0.000	6	0.000	0.000	145	1910	3075
233	-0.84	-146.6	4.0	-7.6	10	254	11.82	3.15	0.00	0.000	4	0.004	0.003	2531	3638	3077
558	-0.84	-146.6	28.4	-7.7	39	564	0.30	3.03	0.00	0.000	6	0.003	0.004	2459	1883	3076
595	-0.84	-146.6	30.4	-5.4	42	601	0.32	2.97	0.00	0.000	4	0.004	0.004	2496	3642	3076
871	-0.84	-146.6	42.7	-6.4	66	876	0.00	3.08	0.00	0.000	6	0.000	0.004	2495	1884	3076
909	-0.84	-146.6	44.9	-6.0	69	910	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	1883	3076
940	-0.84	-146.6	46.8	-5.9	72	942	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1884	3076
973	-0.84	-146.6	48.8	-6.2	75	978	0.00	3.03	0.00	0.000	4	0.000	0.004	2496	3620	3076
1091	-0.84	-146.6	54.9	-4.8	85	1096	0.00	3.05	0.00	0.000	6	0.000	0.004	2496	1948	3076
1129	-0.84	-146.6	56.6	-4.4	88	1130	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1949	3077
1160	-0.84	-146.6	57.9	-4.4	91	1162	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1948	3076
1192	-0.84	-146.6	59.5	-4.8	94	1197	0.00	2.83	0.00	0.000	4	0.000	0.004	2497	3594	3077
1501	-0.84	-146.6	74.0	-4.8	121	1506	0.00	2.78	0.00	0.000	6	0.000	0.003	2495	1951	3076
1539	-0.84	-146.6	75.8	-4.9	124	1544	0.00	2.90	0.00	0.000	4	0.000	0.004	2495	3624	3077
1848	-0.84	-146.6	90.8	-4.7	151	1853	0.00	2.65	0.00	0.000	6	0.000	0.004	2496	1962	3076
1885	-0.84	-146.6	92.9	-5.6	154	1887	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1961	3076
1918	-0.84	-146.6	94.5	-5.0	157	1919	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	1963	3076
1925	end dive: TARGET_DEPTH_EXCEEDED
state	1925	begin apogee
1932	-0.31	0.0	95.1	4.9	158	2059	0.80	0.00	121.68	0.005	6	0.004	0.000	2681	2180	2473
2060	end apogee: CONTROL_FINISHED_OK
state	2060	begin climb
2063	0.84	146.6	97.0	0.0	171	2189	1.12	0.00	121.00	0.005	6	0.004	0.000	2914	2179	1875
2216	0.84	146.6	89.9	6.2	186	2218	0.32	0.00	0.00	0.000	6	0.003	0.000	2877	2178	1874
2248	0.84	146.6	87.9	6.4	189	2249	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	2180	1875
2280	0.84	146.6	85.9	6.4	192	2281	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2178	1875
2312	0.84	146.6	83.9	6.2	195	2313	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2179	1874
2344	0.84	146.6	82.1	6.0	198	2348	0.00	2.30	0.00	0.000	4	0.000	0.004	2878	3605	1874
2543	0.84	146.6	70.0	6.5	215	2550	0.00	2.80	0.00	0.000	6	0.000	0.004	2877	1932	1875
2582	0.84	146.6	67.8	6.1	219	2586	0.00	2.65	0.00	0.000	4	0.000	0.004	2878	507	1874
2890	0.84	146.6	49.1	6.2	246	2895	0.00	3.05	0.00	0.000	6	0.000	0.004	2877	2256	1874
2927	0.84	146.6	47.0	5.7	249	2932	0.00	2.92	0.00	0.000	4	0.000	0.004	2877	511	1875
2948	0.84	146.6	45.7	5.8	250	2955	0.00	3.03	0.00	0.000	6	0.000	0.004	2875	2261	1874
2988	0.84	146.6	43.8	5.3	254	2989	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2264	1874
3018	0.84	146.6	42.1	5.2	257	3019	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2262	1874
3050	0.84	147.0	40.5	5.0	260	3051	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2263	1874
3082	0.85	150.8	39.0	4.9	263	3092	0.00	0.00	5.45	0.005	6	0.000	0.000	2877	2262	1858
3124	0.85	150.8	36.8	5.2	267	3125	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	2264	1858
3156	0.85	150.8	35.2	5.2	270	3157	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2262	1858
3187	0.85	150.8	33.5	5.3	273	3189	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2263	1858
3219	0.85	150.8	31.7	5.5	276	3221	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	2263	1858
3251	0.85	150.8	30.1	5.2	279	3257	0.00	3.15	0.00	0.000	4	0.000	0.004	2877	486	1858
3560	0.85	150.8	13.8	5.9	306	3565	0.00	2.83	0.00	0.000	6	0.000	0.004	2879	2235	1858
3597	0.85	150.8	11.7	5.6	309	3599	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	2235	1859
3629	0.86	165.6	10.3	4.6	312	3649	0.00	0.00	14.40	0.005	6	0.000	0.000	2878	2234	1796
3681	0.94	224.6	8.6	3.2	317	3725	0.00	2.12	38.58	0.005	4	0.000	0.004	2880	3582	1555
3783	0.98	255.9	5.6	4.1	326	3810	0.30	2.72	21.52	0.005	6	0.004	0.004	2956	1928	1430
3841	1.07	329.5	4.1	2.8	332	3894	0.28	1.50	47.78	0.005	3	0.004	0.003	2880	997	1127
3895	end climb: SURFACE_DEPTH_REACHED
state	3895	begin surface coast
3933	end surface coast: CONTROL_FINISHED_OK
state	3933	begin surface