Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 391 * 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 391 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 -24114.93 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 -24114.93

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 391 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 220703,4807.327,-12223.239,9,1.1,9,18.0 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.072,-0.154

_SM_DEPTHo 0.00 KALMAN_X 13547.8,34.5,-32.0,-12783.2,72.6

_SM_ANGLEo -50.0 KALMAN_Y -3260.5,64.6,47.7,2211.7,0.9

GPS2 221401,4807.309,-12223.229,18,1.1,18,18.0 MHEAD_RNG_PITCHd_Wd 136.9,2861,-13.2,-6.000

SPEED_LIMITS 0.060,0.170 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.5,0.997274 _24V_AH 23.8,45.180

SM_CCo 3040,149.93,0.004,20,0,1045,350.04 _10V_AH 9.7,42.959

SM_GC 0.00,0.00,0.00,149.93,0.000,0.000,0.004,147,2184,1045,-11.72,3.22,350.04 DATA_FILE_SIZE 6451,251

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 79393,8

TT8_MAMPS 0.049855 CFSIZE 260165632,246312960

HUMID 1528 ERRORS 0,0,0,0,0,0,0,0,1,0,0,90,241,20,0

INTERNAL_PRESSURE 12.4614 GPS 200708,231148,4807.067,-12223.176,18,1.1,18,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 37 3 3.45 SBE_CT 194 24 111.12

Roll_motor 56 3 5.18 nil 0 0 0.00

VBD_pump_during_apogee 264 4 28.93 nil 0 0 0.00

VBD_pump_during_surface 149 3 13.68 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 96 223 512.63

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.12

TT8 532 18 92.90

LPSleep 1547 0 5.86

TT8_Active 657 18 114.73

TT8_Sampling 405 38 149.30

TT8_CF8 593 44 253.16

TT8_Kalman 33 80 25.90

Analog_circuits 1011 12 117.70

GPS_charging 0 0 0.00

Compass 329 26 83.18

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 0 166 0.00 0.00 -67.38 0.000 6 0.000 0.000 146 1897 3077

170 -1.00 -146.6 0.6 -0.5 7 191 12.50 2.78 0.00 0.000 4 0.004 0.004 2523 3585 3077

196 -1.00 -146.6 5.9 -21.8 9 203 0.30 2.90 0.00 0.000 6 0.003 0.004 2448 1928 3077

234 -1.00 -146.6 10.4 -11.9 13 240 0.38 2.97 0.00 0.000 4 0.004 0.004 2520 3653 3077

544 -1.00 -146.6 32.5 -7.2 40 550 0.30 2.95 0.00 0.000 6 0.003 0.004 2446 1905 3077

581 -1.00 -146.6 35.1 -6.9 43 588 0.35 2.97 0.00 0.000 4 0.003 0.004 2521 3644 3076

892 -1.00 -146.6 56.0 -7.2 70 898 0.55 2.78 0.00 0.000 6 0.004 0.004 2413 1978 3076

931 -1.00 -146.6 58.4 -6.5 73 933 0.68 0.00 0.00 0.000 6 0.003 0.000 2526 1977 3077

960 -1.00 -146.6 60.6 -6.8 76 963 0.55 0.00 0.00 0.000 6 0.003 0.000 2412 1977 3076

994 -1.00 -146.6 62.7 -6.7 79 996 0.52 0.00 0.00 0.000 6 0.003 0.000 2521 1977 3077

1024 -1.00 -146.6 64.8 -6.8 82 1026 0.40 0.00 0.00 0.000 6 0.004 0.000 2448 1976 3077

1057 -1.00 -146.6 66.8 -6.4 85 1063 0.28 2.85 0.00 0.000 4 0.004 0.004 2526 3627 3078

1367 -1.00 -146.6 87.3 -6.5 112 1373 0.45 2.88 0.00 0.000 6 0.003 0.004 2411 1879 3077

1405 -1.00 -146.6 89.8 -6.7 115 1409 0.57 0.88 0.00 0.000 3 0.004 0.004 2524 2486 3076

1409 end dive: TARGET_DEPTH_EXCEEDED

state 1410 begin apogee

1418 -0.31 0.0 90.2 6.6 115 1544 0.75 0.00 122.38 0.005 6 0.004 0.000 2676 1892 2473

1545 end apogee: CONTROL_FINISHED_OK

state 1545 begin climb

1549 1.00 146.6 92.0 0.0 128 1683 1.17 2.42 120.40 0.005 4 0.004 0.004 2933 468 1875

1751 1.00 146.6 79.7 7.2 147 1757 0.30 3.05 0.00 0.000 6 0.004 0.004 2859 2232 1875

1789 1.00 146.6 76.9 7.7 150 1791 0.28 0.00 0.00 0.000 6 0.003 0.000 2935 2231 1874

1820 1.00 146.6 74.6 7.3 153 1822 0.38 0.00 0.00 0.000 6 0.004 0.000 2859 2231 1875

1852 1.00 146.6 72.2 7.4 156 1854 0.47 0.00 0.00 0.000 6 0.004 0.000 2932 2232 1875

1884 1.00 146.6 69.9 7.3 159 1889 0.00 2.53 0.00 0.000 4 0.000 0.004 2934 3672 1874

2051 1.00 146.6 57.5 7.5 173 2057 0.00 3.10 0.00 0.000 6 0.000 0.004 2933 1913 1875

2089 1.00 146.6 54.7 7.6 177 2094 0.38 2.17 0.00 0.000 4 0.004 0.004 2860 543 1875

2398 1.00 146.6 32.4 7.3 204 2404 0.30 2.85 0.00 0.000 6 0.004 0.004 2936 2179 1874

2437 1.00 146.6 29.7 7.4 207 2439 0.30 0.00 0.00 0.000 6 0.003 0.000 2861 2179 1875

2467 1.00 146.6 27.5 7.0 210 2469 0.32 0.00 0.00 0.000 6 0.003 0.000 2937 2178 1874

2500 1.00 146.6 25.1 7.3 213 2502 0.38 0.00 0.00 0.000 6 0.003 0.000 2863 2179 1875

2530 1.00 146.6 22.9 7.2 216 2532 0.40 0.00 0.00 0.000 6 0.003 0.000 2935 2178 1875

2562 1.00 146.6 20.7 7.0 219 2568 0.30 2.67 0.00 0.000 4 0.004 0.004 2858 515 1874

2669 1.00 146.6 13.6 6.2 228 2675 0.28 2.85 0.00 0.000 6 0.003 0.004 2930 2163 1875

2707 1.00 146.6 11.3 6.3 231 2711 0.00 2.45 0.00 0.000 4 0.000 0.004 2931 3611 1874

2802 1.00 146.6 5.5 6.1 239 2807 0.00 2.78 0.00 0.000 6 0.000 0.004 2930 1961 1875

2840 1.04 177.4 3.5 5.0 242 2870 0.00 2.40 21.35 0.005 4 0.000 0.003 2932 543 1747

2872 end climb: SURFACE_DEPTH_REACHED

state 2872 begin surface coast

2943 end surface coast: CONTROL_FINISHED_OK

state 2943 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	391	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	-24114.93	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	220703,4807.327,-12223.239,9,1.1,9,18.0	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.072,-0.154
_SM_DEPTHo	0.00	KALMAN_X	13547.8,34.5,-32.0,-12783.2,72.6
_SM_ANGLEo	-50.0	KALMAN_Y	-3260.5,64.6,47.7,2211.7,0.9
GPS2	221401,4807.309,-12223.229,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	136.9,2861,-13.2,-6.000
SPEED_LIMITS	0.060,0.170	D_GRID	100

FINISH	0.5,0.997274	_24V_AH	23.8,45.180
SM_CCo	3040,149.93,0.004,20,0,1045,350.04	_10V_AH	9.7,42.959
SM_GC	0.00,0.00,0.00,149.93,0.000,0.000,0.004,147,2184,1045,-11.72,3.22,350.04	DATA_FILE_SIZE	6451,251
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	79393,8
TT8_MAMPS	0.049855	CFSIZE	260165632,246312960
HUMID	1528	ERRORS	0,0,0,0,0,0,0,0,1,0,0,90,241,20,0
INTERNAL_PRESSURE	12.4614	GPS	200708,231148,4807.067,-12223.176,18,1.1,18,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	37	3	3.45	SBE_CT	194	24	111.12
Roll_motor	56	3	5.18	nil	0	0	0.00
VBD_pump_during_apogee	264	4	28.93	nil	0	0	0.00
VBD_pump_during_surface	149	3	13.68	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	96	223	512.63
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.12
TT8	532	18	92.90
LPSleep	1547	0	5.86
TT8_Active	657	18	114.73
TT8_Sampling	405	38	149.30
TT8_CF8	593	44	253.16
TT8_Kalman	33	80	25.90
Analog_circuits	1011	12	117.70
GPS_charging	0	0	0.00
Compass	329	26	83.18
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	166	0.00	0.00	-67.38	0.000	6	0.000	0.000	146	1897	3077
170	-1.00	-146.6	0.6	-0.5	7	191	12.50	2.78	0.00	0.000	4	0.004	0.004	2523	3585	3077
196	-1.00	-146.6	5.9	-21.8	9	203	0.30	2.90	0.00	0.000	6	0.003	0.004	2448	1928	3077
234	-1.00	-146.6	10.4	-11.9	13	240	0.38	2.97	0.00	0.000	4	0.004	0.004	2520	3653	3077
544	-1.00	-146.6	32.5	-7.2	40	550	0.30	2.95	0.00	0.000	6	0.003	0.004	2446	1905	3077
581	-1.00	-146.6	35.1	-6.9	43	588	0.35	2.97	0.00	0.000	4	0.003	0.004	2521	3644	3076
892	-1.00	-146.6	56.0	-7.2	70	898	0.55	2.78	0.00	0.000	6	0.004	0.004	2413	1978	3076
931	-1.00	-146.6	58.4	-6.5	73	933	0.68	0.00	0.00	0.000	6	0.003	0.000	2526	1977	3077
960	-1.00	-146.6	60.6	-6.8	76	963	0.55	0.00	0.00	0.000	6	0.003	0.000	2412	1977	3076
994	-1.00	-146.6	62.7	-6.7	79	996	0.52	0.00	0.00	0.000	6	0.003	0.000	2521	1977	3077
1024	-1.00	-146.6	64.8	-6.8	82	1026	0.40	0.00	0.00	0.000	6	0.004	0.000	2448	1976	3077
1057	-1.00	-146.6	66.8	-6.4	85	1063	0.28	2.85	0.00	0.000	4	0.004	0.004	2526	3627	3078
1367	-1.00	-146.6	87.3	-6.5	112	1373	0.45	2.88	0.00	0.000	6	0.003	0.004	2411	1879	3077
1405	-1.00	-146.6	89.8	-6.7	115	1409	0.57	0.88	0.00	0.000	3	0.004	0.004	2524	2486	3076
1409	end dive: TARGET_DEPTH_EXCEEDED
state	1410	begin apogee
1418	-0.31	0.0	90.2	6.6	115	1544	0.75	0.00	122.38	0.005	6	0.004	0.000	2676	1892	2473
1545	end apogee: CONTROL_FINISHED_OK
state	1545	begin climb
1549	1.00	146.6	92.0	0.0	128	1683	1.17	2.42	120.40	0.005	4	0.004	0.004	2933	468	1875
1751	1.00	146.6	79.7	7.2	147	1757	0.30	3.05	0.00	0.000	6	0.004	0.004	2859	2232	1875
1789	1.00	146.6	76.9	7.7	150	1791	0.28	0.00	0.00	0.000	6	0.003	0.000	2935	2231	1874
1820	1.00	146.6	74.6	7.3	153	1822	0.38	0.00	0.00	0.000	6	0.004	0.000	2859	2231	1875
1852	1.00	146.6	72.2	7.4	156	1854	0.47	0.00	0.00	0.000	6	0.004	0.000	2932	2232	1875
1884	1.00	146.6	69.9	7.3	159	1889	0.00	2.53	0.00	0.000	4	0.000	0.004	2934	3672	1874
2051	1.00	146.6	57.5	7.5	173	2057	0.00	3.10	0.00	0.000	6	0.000	0.004	2933	1913	1875
2089	1.00	146.6	54.7	7.6	177	2094	0.38	2.17	0.00	0.000	4	0.004	0.004	2860	543	1875
2398	1.00	146.6	32.4	7.3	204	2404	0.30	2.85	0.00	0.000	6	0.004	0.004	2936	2179	1874
2437	1.00	146.6	29.7	7.4	207	2439	0.30	0.00	0.00	0.000	6	0.003	0.000	2861	2179	1875
2467	1.00	146.6	27.5	7.0	210	2469	0.32	0.00	0.00	0.000	6	0.003	0.000	2937	2178	1874
2500	1.00	146.6	25.1	7.3	213	2502	0.38	0.00	0.00	0.000	6	0.003	0.000	2863	2179	1875
2530	1.00	146.6	22.9	7.2	216	2532	0.40	0.00	0.00	0.000	6	0.003	0.000	2935	2178	1875
2562	1.00	146.6	20.7	7.0	219	2568	0.30	2.67	0.00	0.000	4	0.004	0.004	2858	515	1874
2669	1.00	146.6	13.6	6.2	228	2675	0.28	2.85	0.00	0.000	6	0.003	0.004	2930	2163	1875
2707	1.00	146.6	11.3	6.3	231	2711	0.00	2.45	0.00	0.000	4	0.000	0.004	2931	3611	1874
2802	1.00	146.6	5.5	6.1	239	2807	0.00	2.78	0.00	0.000	6	0.000	0.004	2930	1961	1875
2840	1.04	177.4	3.5	5.0	242	2870	0.00	2.40	21.35	0.005	4	0.000	0.003	2932	543	1747
2872	end climb: SURFACE_DEPTH_REACHED
state	2872	begin surface coast
2943	end surface coast: CONTROL_FINISHED_OK
state	2943	begin surface