Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 367 * 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 367 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 45 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 60 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 -23500.957 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 45

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 -23500.957

CALL_TRIES 5 HD_A 0.0041149999 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.014024 RHO 1.023 T_MISSION 60

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 367 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 203056,4806.821,-12222.668,28,1.1,28,18.0 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.067,-0.166

_SM_DEPTHo -0.00 KALMAN_X 12265.8,119.5,-54.6,-10898.3,48.5

_SM_ANGLEo -50.0 KALMAN_Y -4116.6,41.5,2.3,2244.1,36.9

GPS2 203743,4806.827,-12222.688,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 140.0,1753,-14.8,-6.667

SPEED_LIMITS 0.067,0.180 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.4,0.997281 _24V_AH 23.8,42.378

SM_CCo 2770,175.73,0.004,23,0,1043,350.04 _10V_AH 9.7,42.312

SM_GC 0.00,0.00,0.00,175.73,0.000,0.000,0.004,146,2016,1043,-11.71,-1.53,350.04 DATA_FILE_SIZE 6469,233

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 74843,8

TT8_MAMPS 0.049855 CFSIZE 260165632,247046144

HUMID 1563 ERRORS 0,0,0,0,0,0,0,0,1,0,0,77,134,23,0

INTERNAL_PRESSURE 12.5005 GPS 190708,213147,4806.605,-12222.392,25,1.1,25,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 3 3.22 SBE_CT 181 24 103.54

Roll_motor 34 3 3.11 nil 0 0 0.00

VBD_pump_during_apogee 243 4 26.66 nil 0 0 0.00

VBD_pump_during_surface 175 3 16.04 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 93 223 498.29

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.13

TT8 488 18 85.22

LPSleep 1412 0 5.34

TT8_Active 667 18 116.58

TT8_Sampling 341 38 125.95

TT8_CF8 585 44 249.72

TT8_Kalman 33 80 25.89

Analog_circuits 968 12 112.75

GPS_charging 0 0 0.00

Compass 274 26 69.12

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 -1.11 -146.6 0.0 0.0 0 166 0.00 0.00 -67.40 0.000 6 0.000 0.000 148 1928 3076

170 -1.11 -146.6 0.6 -0.7 7 190 11.27 2.30 0.00 0.000 4 0.004 0.004 2479 475 3077

460 -1.11 -146.6 29.3 -7.5 33 471 0.30 3.35 0.00 0.000 6 0.003 0.004 2402 2224 3077

502 -1.11 -146.6 32.3 -7.3 37 504 0.30 0.00 0.00 0.000 6 0.003 0.000 2479 2223 3076

534 -1.11 -146.6 34.8 -7.5 40 536 0.30 0.00 0.00 0.000 6 0.003 0.000 2408 2224 3077

566 -1.11 -146.6 37.1 -7.2 43 571 0.28 2.53 0.00 0.000 4 0.004 0.003 2483 3662 3076

678 -1.11 -146.6 45.2 -7.4 52 685 0.30 2.90 0.00 0.000 6 0.004 0.004 2409 1909 3077

716 -1.11 -146.6 47.9 -7.5 56 718 0.35 0.00 0.00 0.000 6 0.004 0.000 2484 1914 3076

747 -1.11 -146.6 50.3 -7.4 59 750 0.38 0.00 0.00 0.000 6 0.004 0.000 2414 1911 3076

779 -1.11 -146.6 52.6 -7.2 62 782 0.28 0.00 0.00 0.000 6 0.004 0.000 2490 1912 3077

811 -1.11 -146.6 55.0 -7.5 65 813 0.35 0.00 0.00 0.000 6 0.004 0.000 2417 1911 3076

843 -1.11 -146.6 57.4 -7.5 68 845 0.32 0.00 0.00 0.000 6 0.004 0.000 2495 1911 3077

875 -1.11 -146.6 59.7 -7.3 71 877 0.35 0.00 0.00 0.000 6 0.004 0.000 2416 1911 3078

907 -1.11 -146.6 61.9 -7.0 74 912 0.38 2.47 0.00 0.000 4 0.004 0.004 2494 459 3076

1216 -1.11 -146.6 84.1 -7.5 101 1222 0.30 3.10 0.00 0.000 6 0.004 0.004 2422 2188 3077

1254 -1.11 -146.6 87.0 -7.8 104 1256 0.30 0.00 0.00 0.000 6 0.003 0.000 2496 2189 3077

1285 -1.11 -146.6 89.4 -7.6 107 1287 0.30 0.00 0.00 0.000 6 0.004 0.000 2418 2189 3078

1293 end dive: TARGET_DEPTH_EXCEEDED

state 1293 begin apogee

1300 -0.31 0.0 90.2 7.3 108 1427 1.38 0.00 122.10 0.005 6 0.004 0.000 2680 1979 2473

1428 end apogee: CONTROL_FINISHED_OK

state 1428 begin climb

1432 1.11 146.6 92.6 0.0 121 1559 1.55 0.00 121.30 0.005 6 0.004 0.000 2975 1979 1875

1590 1.11 146.6 83.0 8.2 137 1592 0.32 0.00 0.00 0.000 6 0.004 0.000 2904 1980 1873

1621 1.11 146.6 80.5 8.0 140 1624 0.35 0.00 0.00 0.000 6 0.004 0.000 2980 1978 1875

1654 1.11 146.6 78.0 7.9 143 1660 0.50 2.90 0.00 0.000 4 0.004 0.004 2905 3615 1874

1908 1.11 146.6 57.3 9.1 165 1914 0.30 2.97 0.00 0.000 6 0.003 0.004 2978 1883 1875

1945 1.11 146.6 54.2 8.2 168 1947 0.30 0.00 0.00 0.000 6 0.004 0.000 2901 1883 1874

1977 1.11 146.6 51.7 7.9 171 1979 0.32 0.00 0.00 0.000 6 0.003 0.000 2939 1883 1875

2009 1.11 146.6 49.2 7.9 174 2010 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1884 1875

2041 1.11 146.6 46.7 7.8 177 2042 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1883 1875

2073 1.11 146.6 44.2 7.8 180 2074 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1884 1876

2104 1.11 146.6 41.6 8.0 183 2106 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1883 1876

2137 1.11 146.6 39.3 7.5 186 2138 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1887 1874

2169 1.11 146.6 36.8 7.6 189 2170 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1883 1873

2201 1.11 146.6 34.6 7.2 192 2203 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1885 1875

2232 1.11 146.6 32.2 7.4 195 2233 0.00 0.00 0.00 0.000 6 0.000 0.000 2940 1882 1875

2264 1.11 146.6 29.8 7.3 198 2269 0.00 3.05 0.00 0.000 4 0.000 0.004 2940 3674 1875

2573 1.11 146.6 7.6 6.9 225 2578 0.00 2.80 0.00 0.000 6 0.000 0.004 2938 1920 1875

2612 1.11 146.6 4.7 7.6 228 2617 0.00 2.90 0.00 0.000 4 0.000 0.004 2939 3580 1875

2659 end climb: SURFACE_DEPTH_REACHED

state 2659 begin surface coast

2672 end surface coast: CONTROL_FINISHED_OK

state 2672 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	367	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	45	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	60	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	-23500.957	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	203056,4806.821,-12222.668,28,1.1,28,18.0	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.067,-0.166
_SM_DEPTHo	-0.00	KALMAN_X	12265.8,119.5,-54.6,-10898.3,48.5
_SM_ANGLEo	-50.0	KALMAN_Y	-4116.6,41.5,2.3,2244.1,36.9
GPS2	203743,4806.827,-12222.688,16,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	140.0,1753,-14.8,-6.667
SPEED_LIMITS	0.067,0.180	D_GRID	100

FINISH	1.4,0.997281	_24V_AH	23.8,42.378
SM_CCo	2770,175.73,0.004,23,0,1043,350.04	_10V_AH	9.7,42.312
SM_GC	0.00,0.00,0.00,175.73,0.000,0.000,0.004,146,2016,1043,-11.71,-1.53,350.04	DATA_FILE_SIZE	6469,233
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	74843,8
TT8_MAMPS	0.049855	CFSIZE	260165632,247046144
HUMID	1563	ERRORS	0,0,0,0,0,0,0,0,1,0,0,77,134,23,0
INTERNAL_PRESSURE	12.5005	GPS	190708,213147,4806.605,-12222.392,25,1.1,25,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	3	3.22	SBE_CT	181	24	103.54
Roll_motor	34	3	3.11	nil	0	0	0.00
VBD_pump_during_apogee	243	4	26.66	nil	0	0	0.00
VBD_pump_during_surface	175	3	16.04	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	93	223	498.29
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.13
TT8	488	18	85.22
LPSleep	1412	0	5.34
TT8_Active	667	18	116.58
TT8_Sampling	341	38	125.95
TT8_CF8	585	44	249.72
TT8_Kalman	33	80	25.89
Analog_circuits	968	12	112.75
GPS_charging	0	0	0.00
Compass	274	26	69.12
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	-1.11	-146.6	0.0	0.0	0	166	0.00	0.00	-67.40	0.000	6	0.000	0.000	148	1928	3076
170	-1.11	-146.6	0.6	-0.7	7	190	11.27	2.30	0.00	0.000	4	0.004	0.004	2479	475	3077
460	-1.11	-146.6	29.3	-7.5	33	471	0.30	3.35	0.00	0.000	6	0.003	0.004	2402	2224	3077
502	-1.11	-146.6	32.3	-7.3	37	504	0.30	0.00	0.00	0.000	6	0.003	0.000	2479	2223	3076
534	-1.11	-146.6	34.8	-7.5	40	536	0.30	0.00	0.00	0.000	6	0.003	0.000	2408	2224	3077
566	-1.11	-146.6	37.1	-7.2	43	571	0.28	2.53	0.00	0.000	4	0.004	0.003	2483	3662	3076
678	-1.11	-146.6	45.2	-7.4	52	685	0.30	2.90	0.00	0.000	6	0.004	0.004	2409	1909	3077
716	-1.11	-146.6	47.9	-7.5	56	718	0.35	0.00	0.00	0.000	6	0.004	0.000	2484	1914	3076
747	-1.11	-146.6	50.3	-7.4	59	750	0.38	0.00	0.00	0.000	6	0.004	0.000	2414	1911	3076
779	-1.11	-146.6	52.6	-7.2	62	782	0.28	0.00	0.00	0.000	6	0.004	0.000	2490	1912	3077
811	-1.11	-146.6	55.0	-7.5	65	813	0.35	0.00	0.00	0.000	6	0.004	0.000	2417	1911	3076
843	-1.11	-146.6	57.4	-7.5	68	845	0.32	0.00	0.00	0.000	6	0.004	0.000	2495	1911	3077
875	-1.11	-146.6	59.7	-7.3	71	877	0.35	0.00	0.00	0.000	6	0.004	0.000	2416	1911	3078
907	-1.11	-146.6	61.9	-7.0	74	912	0.38	2.47	0.00	0.000	4	0.004	0.004	2494	459	3076
1216	-1.11	-146.6	84.1	-7.5	101	1222	0.30	3.10	0.00	0.000	6	0.004	0.004	2422	2188	3077
1254	-1.11	-146.6	87.0	-7.8	104	1256	0.30	0.00	0.00	0.000	6	0.003	0.000	2496	2189	3077
1285	-1.11	-146.6	89.4	-7.6	107	1287	0.30	0.00	0.00	0.000	6	0.004	0.000	2418	2189	3078
1293	end dive: TARGET_DEPTH_EXCEEDED
state	1293	begin apogee
1300	-0.31	0.0	90.2	7.3	108	1427	1.38	0.00	122.10	0.005	6	0.004	0.000	2680	1979	2473
1428	end apogee: CONTROL_FINISHED_OK
state	1428	begin climb
1432	1.11	146.6	92.6	0.0	121	1559	1.55	0.00	121.30	0.005	6	0.004	0.000	2975	1979	1875
1590	1.11	146.6	83.0	8.2	137	1592	0.32	0.00	0.00	0.000	6	0.004	0.000	2904	1980	1873
1621	1.11	146.6	80.5	8.0	140	1624	0.35	0.00	0.00	0.000	6	0.004	0.000	2980	1978	1875
1654	1.11	146.6	78.0	7.9	143	1660	0.50	2.90	0.00	0.000	4	0.004	0.004	2905	3615	1874
1908	1.11	146.6	57.3	9.1	165	1914	0.30	2.97	0.00	0.000	6	0.003	0.004	2978	1883	1875
1945	1.11	146.6	54.2	8.2	168	1947	0.30	0.00	0.00	0.000	6	0.004	0.000	2901	1883	1874
1977	1.11	146.6	51.7	7.9	171	1979	0.32	0.00	0.00	0.000	6	0.003	0.000	2939	1883	1875
2009	1.11	146.6	49.2	7.9	174	2010	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1884	1875
2041	1.11	146.6	46.7	7.8	177	2042	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	1883	1875
2073	1.11	146.6	44.2	7.8	180	2074	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	1884	1876
2104	1.11	146.6	41.6	8.0	183	2106	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1883	1876
2137	1.11	146.6	39.3	7.5	186	2138	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1887	1874
2169	1.11	146.6	36.8	7.6	189	2170	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	1883	1873
2201	1.11	146.6	34.6	7.2	192	2203	0.00	0.00	0.00	0.000	6	0.000	0.000	2938	1885	1875
2232	1.11	146.6	32.2	7.4	195	2233	0.00	0.00	0.00	0.000	6	0.000	0.000	2940	1882	1875
2264	1.11	146.6	29.8	7.3	198	2269	0.00	3.05	0.00	0.000	4	0.000	0.004	2940	3674	1875
2573	1.11	146.6	7.6	6.9	225	2578	0.00	2.80	0.00	0.000	6	0.000	0.004	2938	1920	1875
2612	1.11	146.6	4.7	7.6	228	2617	0.00	2.90	0.00	0.000	4	0.000	0.004	2939	3580	1875
2659	end climb: SURFACE_DEPTH_REACHED
state	2659	begin surface coast
2672	end surface coast: CONTROL_FINISHED_OK
state	2672	begin surface