Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 394 * 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 394 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 -24191.479 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 -24191.479

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 394 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 010709,4807.027,-12222.875,28,1.1,29,18.0 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.094,-0.141

_SM_DEPTHo 0.00 KALMAN_X 13141.9,15.3,-20.8,-11930.4,-145.8

_SM_ANGLEo -50.0 KALMAN_Y -2620.0,64.7,6.4,1049.0,188.9

GPS2 011400,4807.007,-12222.871,17,1.1,17,18.0 MHEAD_RNG_PITCHd_Wd 128.3,2154,-13.2,-6.000

SPEED_LIMITS 0.060,0.170 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.1,0.997166 _24V_AH 23.8,45.510

SM_CCo 3080,175.30,0.004,23,0,1046,350.04 _10V_AH 9.7,43.037

SM_GC 0.01,0.00,0.00,175.30,0.000,0.000,0.004,145,1940,1046,-11.71,-3.68,350.04 DATA_FILE_SIZE 6433,259

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 77400,8

TT8_MAMPS 0.049088 CFSIZE 260165632,246231040

HUMID 1501 ERRORS 0,0,0,0,0,0,0,0,1,0,0,66,187,23,0

INTERNAL_PRESSURE 12.4419 GPS 210708,021324,4806.805,-12222.466,32,1.1,32,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 3 2.73 SBE_CT 202 24 115.86

Roll_motor 44 3 4.10 nil 0 0 0.00

VBD_pump_during_apogee 243 4 26.68 nil 0 0 0.00

VBD_pump_during_surface 175 3 16.00 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 101 223 540.46

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 50 9.76

TT8 533 18 93.16

LPSleep 1617 0 6.12

TT8_Active 671 18 117.18

TT8_Sampling 382 38 140.94

TT8_CF8 608 44 259.50

TT8_Kalman 33 80 25.89

Analog_circuits 1008 12 117.38

GPS_charging 0 0 0.00

Compass 308 26 77.83

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

90 end surface: CONTROL_FINISHED_OK

state 91 begin dive

94 -1.00 -146.6 0.0 0.0 0 165 0.00 0.00 -67.40 0.000 6 0.000 0.000 143 1909 3078

169 -1.00 -146.6 0.6 -0.7 7 190 11.85 2.15 0.00 0.000 4 0.004 0.003 2531 543 3078

240 -1.00 -146.6 11.4 -7.7 13 247 0.47 2.85 0.00 0.000 6 0.003 0.004 2419 2196 3079

278 -1.00 -146.6 14.1 -7.2 17 284 0.35 2.78 0.00 0.000 4 0.004 0.004 2459 558 3078

588 -1.00 -146.6 33.8 -5.6 44 593 0.00 2.83 0.00 0.000 6 0.000 0.004 2459 2214 3078

626 -1.00 -146.6 35.9 -5.4 47 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2214 3079

658 -1.00 -146.6 37.7 -5.7 50 659 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2213 3078

690 -1.00 -146.6 39.5 -5.5 53 691 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2213 3079

721 -1.00 -146.6 41.3 -5.8 56 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2215 3079

753 -1.00 -146.6 43.2 -5.8 59 754 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2214 3078

785 -1.00 -146.6 45.2 -6.2 62 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2213 3078

818 -1.00 -146.6 47.0 -5.9 65 819 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2215 3079

848 -1.00 -146.6 49.1 -6.3 68 850 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2213 3080

882 -1.00 -146.6 51.1 -6.3 71 883 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2214 3080

912 -1.00 -146.6 53.0 -6.1 74 913 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2213 3078

944 -1.00 -146.6 55.1 -6.4 77 949 0.00 2.70 0.00 0.000 4 0.000 0.004 2459 550 3078

1044 -1.00 -146.6 61.5 -6.4 85 1050 0.00 2.90 0.00 0.000 6 0.000 0.004 2457 2202 3079

1082 -1.00 -146.6 63.8 -6.2 89 1083 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2200 3079

1114 -1.00 -146.6 65.7 -6.1 92 1115 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2200 3078

1146 -1.00 -146.6 67.8 -6.3 95 1150 0.00 2.47 0.00 0.000 4 0.000 0.004 2458 3654 3078

1324 -1.00 -146.6 79.9 -6.8 110 1330 0.00 3.05 0.00 0.000 6 0.000 0.004 2461 1890 3078

1362 -1.00 -146.6 82.4 -6.8 114 1363 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 1889 3079

1394 -1.00 -146.6 84.5 -6.8 117 1395 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1894 3079

1426 -1.00 -146.6 86.6 -6.7 120 1427 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 1890 3078

1457 -1.00 -146.6 88.7 -6.7 123 1459 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 1890 3078

1476 end dive: TARGET_DEPTH_EXCEEDED

state 1476 begin apogee

1483 -0.31 0.0 90.0 6.4 125 1610 1.08 0.00 122.55 0.005 6 0.004 0.000 2676 2204 2472

1611 end apogee: CONTROL_FINISHED_OK

state 1611 begin climb

1615 1.00 146.6 92.3 0.0 138 1742 1.38 0.00 121.07 0.005 6 0.004 0.000 2945 2204 1875

1773 1.00 146.6 83.5 7.1 154 1775 0.30 0.00 0.00 0.000 6 0.004 0.000 2866 2204 1876

1805 1.00 146.6 81.3 7.2 157 1810 0.32 2.35 0.00 0.000 4 0.004 0.004 2906 3629 1875

2114 1.00 146.6 59.5 7.0 184 2119 0.00 2.78 0.00 0.000 6 0.000 0.004 2906 1963 1875

2152 1.00 146.6 56.8 7.2 187 2157 0.00 2.78 0.00 0.000 4 0.000 0.004 2905 3611 1877

2460 1.00 146.6 35.3 6.8 214 2466 0.00 3.17 0.00 0.000 6 0.000 0.004 2906 1882 1876

2500 1.00 146.6 32.7 7.0 217 2505 0.00 3.10 0.00 0.000 4 0.000 0.004 2907 3634 1876

2663 1.00 146.6 21.1 7.2 231 2668 0.00 3.00 0.00 0.000 6 0.000 0.004 2905 1886 1875

2700 1.00 146.6 18.5 6.7 234 2702 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 1886 1878

2732 1.00 146.6 16.5 6.4 237 2733 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 1885 1875

2764 1.00 146.6 14.5 6.5 240 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 1884 1876

2796 1.00 146.6 12.4 6.4 243 2797 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1886 1876

2828 1.00 146.6 10.5 6.4 246 2829 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 1886 1876

2859 1.00 146.6 8.4 6.5 249 2864 0.00 2.90 0.00 0.000 4 0.000 0.004 2907 3644 1875

2963 end climb: SURFACE_DEPTH_REACHED

state 2963 begin surface coast

2983 end surface coast: CONTROL_FINISHED_OK

state 2983 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	394	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	-24191.479	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	010709,4807.027,-12222.875,28,1.1,29,18.0	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.094,-0.141
_SM_DEPTHo	0.00	KALMAN_X	13141.9,15.3,-20.8,-11930.4,-145.8
_SM_ANGLEo	-50.0	KALMAN_Y	-2620.0,64.7,6.4,1049.0,188.9
GPS2	011400,4807.007,-12222.871,17,1.1,17,18.0	MHEAD_RNG_PITCHd_Wd	128.3,2154,-13.2,-6.000
SPEED_LIMITS	0.060,0.170	D_GRID	100

FINISH	1.1,0.997166	_24V_AH	23.8,45.510
SM_CCo	3080,175.30,0.004,23,0,1046,350.04	_10V_AH	9.7,43.037
SM_GC	0.01,0.00,0.00,175.30,0.000,0.000,0.004,145,1940,1046,-11.71,-3.68,350.04	DATA_FILE_SIZE	6433,259
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	77400,8
TT8_MAMPS	0.049088	CFSIZE	260165632,246231040
HUMID	1501	ERRORS	0,0,0,0,0,0,0,0,1,0,0,66,187,23,0
INTERNAL_PRESSURE	12.4419	GPS	210708,021324,4806.805,-12222.466,32,1.1,32,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	3	2.73	SBE_CT	202	24	115.86
Roll_motor	44	3	4.10	nil	0	0	0.00
VBD_pump_during_apogee	243	4	26.68	nil	0	0	0.00
VBD_pump_during_surface	175	3	16.00	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	101	223	540.46
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	50	9.76
TT8	533	18	93.16
LPSleep	1617	0	6.12
TT8_Active	671	18	117.18
TT8_Sampling	382	38	140.94
TT8_CF8	608	44	259.50
TT8_Kalman	33	80	25.89
Analog_circuits	1008	12	117.38
GPS_charging	0	0	0.00
Compass	308	26	77.83
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
90	end surface: CONTROL_FINISHED_OK
state	91	begin dive
94	-1.00	-146.6	0.0	0.0	0	165	0.00	0.00	-67.40	0.000	6	0.000	0.000	143	1909	3078
169	-1.00	-146.6	0.6	-0.7	7	190	11.85	2.15	0.00	0.000	4	0.004	0.003	2531	543	3078
240	-1.00	-146.6	11.4	-7.7	13	247	0.47	2.85	0.00	0.000	6	0.003	0.004	2419	2196	3079
278	-1.00	-146.6	14.1	-7.2	17	284	0.35	2.78	0.00	0.000	4	0.004	0.004	2459	558	3078
588	-1.00	-146.6	33.8	-5.6	44	593	0.00	2.83	0.00	0.000	6	0.000	0.004	2459	2214	3078
626	-1.00	-146.6	35.9	-5.4	47	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2214	3079
658	-1.00	-146.6	37.7	-5.7	50	659	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	2213	3078
690	-1.00	-146.6	39.5	-5.5	53	691	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2213	3079
721	-1.00	-146.6	41.3	-5.8	56	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2215	3079
753	-1.00	-146.6	43.2	-5.8	59	754	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2214	3078
785	-1.00	-146.6	45.2	-6.2	62	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2213	3078
818	-1.00	-146.6	47.0	-5.9	65	819	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2215	3079
848	-1.00	-146.6	49.1	-6.3	68	850	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2213	3080
882	-1.00	-146.6	51.1	-6.3	71	883	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2214	3080
912	-1.00	-146.6	53.0	-6.1	74	913	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2213	3078
944	-1.00	-146.6	55.1	-6.4	77	949	0.00	2.70	0.00	0.000	4	0.000	0.004	2459	550	3078
1044	-1.00	-146.6	61.5	-6.4	85	1050	0.00	2.90	0.00	0.000	6	0.000	0.004	2457	2202	3079
1082	-1.00	-146.6	63.8	-6.2	89	1083	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2200	3079
1114	-1.00	-146.6	65.7	-6.1	92	1115	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2200	3078
1146	-1.00	-146.6	67.8	-6.3	95	1150	0.00	2.47	0.00	0.000	4	0.000	0.004	2458	3654	3078
1324	-1.00	-146.6	79.9	-6.8	110	1330	0.00	3.05	0.00	0.000	6	0.000	0.004	2461	1890	3078
1362	-1.00	-146.6	82.4	-6.8	114	1363	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	1889	3079
1394	-1.00	-146.6	84.5	-6.8	117	1395	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1894	3079
1426	-1.00	-146.6	86.6	-6.7	120	1427	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	1890	3078
1457	-1.00	-146.6	88.7	-6.7	123	1459	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	1890	3078
1476	end dive: TARGET_DEPTH_EXCEEDED
state	1476	begin apogee
1483	-0.31	0.0	90.0	6.4	125	1610	1.08	0.00	122.55	0.005	6	0.004	0.000	2676	2204	2472
1611	end apogee: CONTROL_FINISHED_OK
state	1611	begin climb
1615	1.00	146.6	92.3	0.0	138	1742	1.38	0.00	121.07	0.005	6	0.004	0.000	2945	2204	1875
1773	1.00	146.6	83.5	7.1	154	1775	0.30	0.00	0.00	0.000	6	0.004	0.000	2866	2204	1876
1805	1.00	146.6	81.3	7.2	157	1810	0.32	2.35	0.00	0.000	4	0.004	0.004	2906	3629	1875
2114	1.00	146.6	59.5	7.0	184	2119	0.00	2.78	0.00	0.000	6	0.000	0.004	2906	1963	1875
2152	1.00	146.6	56.8	7.2	187	2157	0.00	2.78	0.00	0.000	4	0.000	0.004	2905	3611	1877
2460	1.00	146.6	35.3	6.8	214	2466	0.00	3.17	0.00	0.000	6	0.000	0.004	2906	1882	1876
2500	1.00	146.6	32.7	7.0	217	2505	0.00	3.10	0.00	0.000	4	0.000	0.004	2907	3634	1876
2663	1.00	146.6	21.1	7.2	231	2668	0.00	3.00	0.00	0.000	6	0.000	0.004	2905	1886	1875
2700	1.00	146.6	18.5	6.7	234	2702	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	1886	1878
2732	1.00	146.6	16.5	6.4	237	2733	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	1885	1875
2764	1.00	146.6	14.5	6.5	240	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	1884	1876
2796	1.00	146.6	12.4	6.4	243	2797	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	1886	1876
2828	1.00	146.6	10.5	6.4	246	2829	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	1886	1876
2859	1.00	146.6	8.4	6.5	249	2864	0.00	2.90	0.00	0.000	4	0.000	0.004	2907	3644	1875
2963	end climb: SURFACE_DEPTH_REACHED
state	2963	begin surface coast
2983	end surface coast: CONTROL_FINISHED_OK
state	2983	begin surface