Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 244 * 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 244 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 4 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 -30455.912 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 -30455.912

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 4 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 244 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 140109,4805.809,-12221.442,12,1.1,12,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.144,0.063

_SM_DEPTHo -0.00 KALMAN_X 19606.4,-14.4,-112.5,-16797.2,319.8

_SM_ANGLEo -50.0 KALMAN_Y 2192.4,-286.3,12.7,-5504.1,49.4

GPS2 140758,4805.781,-12221.422,34,1.1,34,18.0 MHEAD_RNG_PITCHd_Wd 275.7,5201,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.6,0.997256 _24V_AH 23.8,27.623

SM_CCo 3232,132.20,0.004,17,0,1250,300.00 _10V_AH 9.7,40.898

SM_GC 0.00,0.00,0.00,132.20,0.000,0.000,0.004,147,2003,1250,-11.72,-1.84,300.00 DATA_FILE_SIZE 6452,267

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 64953,8

TT8_MAMPS 0.049088 CFSIZE 260165632,251551744

HUMID 1745 ERRORS 0,0,0,0,0,0,0,0,1,0,0,88,179,17,0

INTERNAL_PRESSURE 12.4907 GPS 050808,150903,4805.957,-12221.727,13,1.1,13,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 4 3.60 SBE_CT 208 24 119.13

Roll_motor 44 3 4.08 nil 0 0 0.00

VBD_pump_during_apogee 242 4 26.61 nil 0 0 0.00

VBD_pump_during_surface 132 3 12.07 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 78 223 415.56

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 16.87

TT8 552 18 96.47

LPSleep 1720 0 6.51

TT8_Active 578 18 101.01

TT8_Sampling 437 38 161.24

TT8_CF8 641 44 273.61

TT8_Kalman 33 80 25.87

Analog_circuits 940 12 109.48

GPS_charging 0 0 0.00

Compass 342 26 86.46

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

129 -0.84 -146.6 0.0 0.0 0 192 0.00 0.00 -60.90 0.000 6 0.000 0.000 146 2139 3077

196 -0.84 -146.6 0.6 -1.2 6 217 12.23 2.28 0.00 0.000 4 0.004 0.004 2541 3594 3076

521 -0.84 -146.6 28.1 -6.4 35 527 0.30 2.78 0.00 0.000 6 0.003 0.004 2468 1946 3076

559 -0.84 -146.6 30.6 -6.5 38 561 0.40 0.00 0.00 0.000 6 0.004 0.000 2541 1945 3077

590 -0.84 -146.6 32.7 -6.6 41 593 0.30 0.00 0.00 0.000 6 0.003 0.000 2469 1947 3077

623 -0.84 -146.6 34.8 -6.8 44 625 0.30 0.00 0.00 0.000 6 0.003 0.000 2545 1946 3077

654 -0.84 -146.6 36.8 -6.4 47 657 0.38 0.00 0.00 0.000 6 0.004 0.000 2469 1945 3077

686 -0.84 -146.6 39.0 -6.5 50 688 0.43 0.00 0.00 0.000 6 0.003 0.000 2545 1946 3078

718 -0.84 -146.6 41.0 -6.3 53 724 0.28 2.85 0.00 0.000 4 0.004 0.004 2472 3669 3076

1028 -0.84 -146.6 59.9 -6.2 80 1034 0.30 2.97 0.00 0.000 6 0.004 0.004 2542 1901 3078

1065 -0.84 -146.6 62.2 -6.1 83 1067 0.30 0.00 0.00 0.000 6 0.004 0.000 2467 1901 3077

1097 -0.84 -146.6 64.2 -6.4 86 1099 0.35 0.00 0.00 0.000 6 0.004 0.000 2541 1905 3077

1129 -0.84 -146.6 66.2 -6.1 89 1131 0.32 0.00 0.00 0.000 6 0.004 0.000 2505 1900 3077

1161 -0.84 -146.6 68.1 -6.1 92 1162 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1901 3077

1193 -0.84 -146.6 70.1 -6.1 95 1194 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 1901 3078

1224 -0.84 -146.6 71.9 -6.0 98 1226 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 1901 3077

1257 -0.84 -146.6 73.7 -5.7 101 1258 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1900 3077

1288 -0.84 -146.6 75.6 -5.8 104 1289 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1901 3077

1320 -0.84 -146.6 77.5 -5.7 107 1321 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 1902 3077

1352 -0.84 -146.6 79.3 -5.7 110 1357 0.00 3.17 0.00 0.000 4 0.000 0.004 2505 3633 3077

1613 end dive: TARGET_DEPTH_EXCEEDED

state 1613 begin apogee

1622 -0.31 0.0 95.1 6.2 133 1749 0.62 0.00 122.62 0.005 6 0.004 0.000 2654 1940 2472

1750 end apogee: CONTROL_FINISHED_OK

state 1750 begin climb

1753 0.84 146.6 97.2 0.0 146 1886 1.27 2.62 120.35 0.005 4 0.005 0.004 2919 498 1875

1956 0.84 146.6 84.6 7.2 165 1962 0.30 3.03 0.00 0.000 6 0.003 0.004 2842 2254 1875

1993 0.84 146.6 81.8 7.9 168 1995 0.30 0.00 0.00 0.000 6 0.004 0.000 2921 2255 1875

2025 0.84 146.6 79.4 7.1 171 2027 0.38 0.00 0.00 0.000 6 0.003 0.000 2844 2254 1875

2057 0.84 146.6 77.1 7.3 174 2062 0.30 2.35 0.00 0.000 4 0.004 0.004 2882 3601 1874

2254 0.84 146.6 62.2 8.0 191 2259 0.00 2.78 0.00 0.000 6 0.000 0.004 2884 1938 1875

2292 0.84 146.6 59.0 8.8 194 2296 0.00 2.53 0.00 0.000 4 0.000 0.004 2883 501 1875

2600 0.84 146.6 36.1 7.4 221 2605 0.00 2.97 0.00 0.000 6 0.000 0.004 2883 2239 1876

2637 0.84 146.6 33.5 7.2 224 2642 0.00 2.90 0.00 0.000 4 0.000 0.004 2882 506 1875

2945 0.84 146.6 11.9 6.7 251 2950 0.00 2.90 0.00 0.000 6 0.000 0.004 2883 2168 1875

2983 0.84 146.6 9.2 7.2 254 2988 0.00 2.85 0.00 0.000 4 0.000 0.004 2883 508 1875

3089 0.84 146.6 2.6 6.3 263 3094 0.00 2.80 0.00 0.000 6 0.000 0.004 2885 2161 1875

3103 end climb: SURFACE_DEPTH_REACHED

state 3103 begin surface coast

3136 end surface coast: CONTROL_FINISHED_OK

state 3136 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	244	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	4	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	-30455.912	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	140109,4805.809,-12221.442,12,1.1,12,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.144,0.063
_SM_DEPTHo	-0.00	KALMAN_X	19606.4,-14.4,-112.5,-16797.2,319.8
_SM_ANGLEo	-50.0	KALMAN_Y	2192.4,-286.3,12.7,-5504.1,49.4
GPS2	140758,4805.781,-12221.422,34,1.1,34,18.0	MHEAD_RNG_PITCHd_Wd	275.7,5201,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.6,0.997256	_24V_AH	23.8,27.623
SM_CCo	3232,132.20,0.004,17,0,1250,300.00	_10V_AH	9.7,40.898
SM_GC	0.00,0.00,0.00,132.20,0.000,0.000,0.004,147,2003,1250,-11.72,-1.84,300.00	DATA_FILE_SIZE	6452,267
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	64953,8
TT8_MAMPS	0.049088	CFSIZE	260165632,251551744
HUMID	1745	ERRORS	0,0,0,0,0,0,0,0,1,0,0,88,179,17,0
INTERNAL_PRESSURE	12.4907	GPS	050808,150903,4805.957,-12221.727,13,1.1,13,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	4	3.60	SBE_CT	208	24	119.13
Roll_motor	44	3	4.08	nil	0	0	0.00
VBD_pump_during_apogee	242	4	26.61	nil	0	0	0.00
VBD_pump_during_surface	132	3	12.07	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	78	223	415.56
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	16.87
TT8	552	18	96.47
LPSleep	1720	0	6.51
TT8_Active	578	18	101.01
TT8_Sampling	437	38	161.24
TT8_CF8	641	44	273.61
TT8_Kalman	33	80	25.87
Analog_circuits	940	12	109.48
GPS_charging	0	0	0.00
Compass	342	26	86.46
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
129	-0.84	-146.6	0.0	0.0	0	192	0.00	0.00	-60.90	0.000	6	0.000	0.000	146	2139	3077
196	-0.84	-146.6	0.6	-1.2	6	217	12.23	2.28	0.00	0.000	4	0.004	0.004	2541	3594	3076
521	-0.84	-146.6	28.1	-6.4	35	527	0.30	2.78	0.00	0.000	6	0.003	0.004	2468	1946	3076
559	-0.84	-146.6	30.6	-6.5	38	561	0.40	0.00	0.00	0.000	6	0.004	0.000	2541	1945	3077
590	-0.84	-146.6	32.7	-6.6	41	593	0.30	0.00	0.00	0.000	6	0.003	0.000	2469	1947	3077
623	-0.84	-146.6	34.8	-6.8	44	625	0.30	0.00	0.00	0.000	6	0.003	0.000	2545	1946	3077
654	-0.84	-146.6	36.8	-6.4	47	657	0.38	0.00	0.00	0.000	6	0.004	0.000	2469	1945	3077
686	-0.84	-146.6	39.0	-6.5	50	688	0.43	0.00	0.00	0.000	6	0.003	0.000	2545	1946	3078
718	-0.84	-146.6	41.0	-6.3	53	724	0.28	2.85	0.00	0.000	4	0.004	0.004	2472	3669	3076
1028	-0.84	-146.6	59.9	-6.2	80	1034	0.30	2.97	0.00	0.000	6	0.004	0.004	2542	1901	3078
1065	-0.84	-146.6	62.2	-6.1	83	1067	0.30	0.00	0.00	0.000	6	0.004	0.000	2467	1901	3077
1097	-0.84	-146.6	64.2	-6.4	86	1099	0.35	0.00	0.00	0.000	6	0.004	0.000	2541	1905	3077
1129	-0.84	-146.6	66.2	-6.1	89	1131	0.32	0.00	0.00	0.000	6	0.004	0.000	2505	1900	3077
1161	-0.84	-146.6	68.1	-6.1	92	1162	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	1901	3077
1193	-0.84	-146.6	70.1	-6.1	95	1194	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	1901	3078
1224	-0.84	-146.6	71.9	-6.0	98	1226	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	1901	3077
1257	-0.84	-146.6	73.7	-5.7	101	1258	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	1900	3077
1288	-0.84	-146.6	75.6	-5.8	104	1289	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	1901	3077
1320	-0.84	-146.6	77.5	-5.7	107	1321	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	1902	3077
1352	-0.84	-146.6	79.3	-5.7	110	1357	0.00	3.17	0.00	0.000	4	0.000	0.004	2505	3633	3077
1613	end dive: TARGET_DEPTH_EXCEEDED
state	1613	begin apogee
1622	-0.31	0.0	95.1	6.2	133	1749	0.62	0.00	122.62	0.005	6	0.004	0.000	2654	1940	2472
1750	end apogee: CONTROL_FINISHED_OK
state	1750	begin climb
1753	0.84	146.6	97.2	0.0	146	1886	1.27	2.62	120.35	0.005	4	0.005	0.004	2919	498	1875
1956	0.84	146.6	84.6	7.2	165	1962	0.30	3.03	0.00	0.000	6	0.003	0.004	2842	2254	1875
1993	0.84	146.6	81.8	7.9	168	1995	0.30	0.00	0.00	0.000	6	0.004	0.000	2921	2255	1875
2025	0.84	146.6	79.4	7.1	171	2027	0.38	0.00	0.00	0.000	6	0.003	0.000	2844	2254	1875
2057	0.84	146.6	77.1	7.3	174	2062	0.30	2.35	0.00	0.000	4	0.004	0.004	2882	3601	1874
2254	0.84	146.6	62.2	8.0	191	2259	0.00	2.78	0.00	0.000	6	0.000	0.004	2884	1938	1875
2292	0.84	146.6	59.0	8.8	194	2296	0.00	2.53	0.00	0.000	4	0.000	0.004	2883	501	1875
2600	0.84	146.6	36.1	7.4	221	2605	0.00	2.97	0.00	0.000	6	0.000	0.004	2883	2239	1876
2637	0.84	146.6	33.5	7.2	224	2642	0.00	2.90	0.00	0.000	4	0.000	0.004	2882	506	1875
2945	0.84	146.6	11.9	6.7	251	2950	0.00	2.90	0.00	0.000	6	0.000	0.004	2883	2168	1875
2983	0.84	146.6	9.2	7.2	254	2988	0.00	2.85	0.00	0.000	4	0.000	0.004	2883	508	1875
3089	0.84	146.6	2.6	6.3	263	3094	0.00	2.80	0.00	0.000	6	0.000	0.004	2885	2161	1875
3103	end climb: SURFACE_DEPTH_REACHED
state	3103	begin surface coast
3136	end surface coast: CONTROL_FINISHED_OK
state	3136	begin surface