Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 330 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 10 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 330 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 30 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 45 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 -22634.871 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 0.0038360001 PITCH_MAXERRORS 10 ALTIM_BOTTOM_TURN_MARGIN 0 AR_RECORDBELOW 0.0

HD_B 0.010078 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 30

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 -22634.871

CALL_TRIES 5 HD_A 0.0038360001 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.010078 RHO 1.023 T_MISSION 45

CAPMAXSIZE 100000 HD_C 9.8541004e-06 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 330 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 081103,4806.892,-12222.630,26,1.1,27,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.208,0.156

_SM_DEPTHo -0.00 KALMAN_X 9657.2,-157.1,-118.4,-7800.9,87.2

_SM_ANGLEo -50.0 KALMAN_Y -4118.5,526.0,318.7,1450.3,71.6

GPS2 081757,4806.827,-12222.564,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 288.9,2805,-18.2,-10.000

SPEED_LIMITS 0.100,0.261 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.9,0.997325 _24V_AH 23.8,38.391

SM_CCo 1985,172.15,0.004,23,0,1044,350.53 _10V_AH 9.7,41.368

SM_GC 0.00,0.00,0.00,172.15,0.000,0.000,0.004,144,1951,1044,-11.72,-3.36,350.53 DATA_FILE_SIZE 3306,166

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 64221,8

TT8_MAMPS 0.049088 CFSIZE 260165632,248127488

HUMID 1614 ERRORS 0,0,0,0,0,0,0,0,1,0,0,88,79,23,0

INTERNAL_PRESSURE 12.52 GPS 180708,085853,4806.966,-12222.792,29,1.1,29,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 4 3.81 SBE_CT 128 24 73.57

Roll_motor 16 3 1.54 nil 0 0 0.00

VBD_pump_during_apogee 250 4 27.39 nil 0 0 0.00

VBD_pump_during_surface 172 3 15.71 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 104 223 553.66

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 50 11.11

TT8 356 18 62.24

LPSleep 906 0 3.43

TT8_Active 648 18 113.27

TT8_Sampling 239 38 88.43

TT8_CF8 561 44 239.62

TT8_Kalman 33 80 25.88

Analog_circuits 862 12 100.37

GPS_charging 0 0 0.00

Compass 179 26 45.18

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

90 end surface: CONTROL_FINISHED_OK

state 90 begin dive

93 -1.32 -146.6 0.0 0.0 0 163 0.00 0.00 -67.38 0.000 6 0.000 0.000 146 2178 3080

167 -1.32 -146.6 0.6 -0.8 7 181 11.62 0.00 0.00 0.000 6 0.004 0.000 2457 2179 3079

208 -1.32 -146.6 8.9 -22.0 11 211 0.40 0.00 0.00 0.000 6 0.004 0.000 2381 2178 3080

240 -1.32 -146.6 13.0 -14.4 14 242 0.35 0.00 0.00 0.000 6 0.004 0.000 2460 2180 3080

272 -1.32 -146.6 17.2 -13.3 17 274 0.47 0.00 0.00 0.000 6 0.003 0.000 2345 2178 3080

304 -1.32 -146.6 21.3 -12.6 20 306 0.47 0.00 0.00 0.000 6 0.004 0.000 2451 2178 3080

336 -1.32 -146.6 25.2 -12.4 23 338 0.40 0.00 0.00 0.000 6 0.003 0.000 2380 2179 3080

368 -1.32 -146.6 29.1 -12.2 26 370 0.32 0.00 0.00 0.000 6 0.004 0.000 2416 2178 3080

400 -1.32 -146.6 33.0 -12.2 29 401 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2179 3080

432 -1.32 -146.6 36.9 -12.3 32 433 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2179 3081

463 -1.32 -146.6 40.9 -12.4 35 464 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2178 3080

495 -1.32 -146.6 44.7 -12.4 38 496 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2178 3080

527 -1.32 -146.6 48.5 -11.9 41 528 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2179 3080

559 -1.32 -146.6 52.2 -11.8 44 560 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2178 3079

591 -1.32 -146.6 56.1 -11.9 47 592 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2178 3079

623 -1.32 -146.6 59.9 -12.1 50 628 0.00 2.42 0.00 0.000 4 0.000 0.004 2415 3629 3078

745 -1.32 -146.6 75.0 -11.7 60 751 0.00 2.90 0.00 0.000 6 0.000 0.004 2417 1901 3081

783 -1.32 -146.6 79.7 -12.9 64 784 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 1902 3080

815 -1.32 -146.6 83.8 -12.8 67 816 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 1900 3080

846 -1.32 -146.6 87.7 -12.7 70 848 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 1902 3080

865 end dive: TARGET_DEPTH_EXCEEDED

state 865 begin apogee

872 -0.31 0.0 90.3 12.2 72 999 1.20 0.00 122.95 0.005 6 0.004 0.000 2680 2216 2471

1000 end apogee: CONTROL_FINISHED_OK

state 1000 begin climb

1003 1.32 146.6 92.9 0.0 85 1130 1.77 0.00 120.78 0.005 6 0.004 0.000 3017 2216 1875

1162 1.32 146.6 79.6 11.7 101 1164 0.35 0.00 0.00 0.000 6 0.003 0.000 2944 2216 1875

1193 1.32 146.6 76.0 11.4 104 1195 0.32 0.00 0.00 0.000 6 0.004 0.000 3018 2217 1875

1225 1.32 146.6 72.4 11.2 107 1227 0.30 0.00 0.00 0.000 6 0.004 0.000 2940 2215 1876

1257 1.32 146.6 68.7 11.3 110 1259 0.35 0.00 0.00 0.000 6 0.003 0.000 3016 2216 1875

1289 1.32 146.6 65.1 11.3 113 1291 0.43 0.00 0.00 0.000 6 0.003 0.000 2940 2217 1874

1320 1.32 146.6 61.5 11.4 116 1323 0.38 0.00 0.00 0.000 6 0.004 0.000 3018 2216 1874

1352 1.32 146.6 57.9 11.3 119 1355 0.35 0.00 0.00 0.000 6 0.003 0.000 2942 2217 1875

1384 1.32 146.6 54.4 11.2 122 1387 0.43 0.00 0.00 0.000 6 0.004 0.000 3013 2215 1875

1416 1.32 146.6 51.0 10.8 125 1421 0.25 2.53 0.00 0.000 4 0.005 0.004 2935 3665 1875

1726 1.32 151.4 18.2 9.8 152 1740 0.30 2.97 6.35 0.005 6 0.004 0.004 3010 1902 1854

1779 1.32 151.4 12.7 10.4 157 1785 0.38 3.03 0.00 0.000 4 0.004 0.004 2934 3665 1856

1877 end climb: SURFACE_DEPTH_REACHED

state 1877 begin surface coast

1889 end surface coast: CONTROL_FINISHED_OK

state 1889 begin surface

ID	80	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	10	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	330	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	30	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	45	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	-22634.871	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	0.0038360001	PITCH_MAXERRORS	10	ALTIM_BOTTOM_TURN_MARGIN	0	AR_RECORDBELOW	0.0
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	AR_NOTIFYAPOGEE	0.0

GPS1	081103,4806.892,-12222.630,26,1.1,27,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.208,0.156
_SM_DEPTHo	-0.00	KALMAN_X	9657.2,-157.1,-118.4,-7800.9,87.2
_SM_ANGLEo	-50.0	KALMAN_Y	-4118.5,526.0,318.7,1450.3,71.6
GPS2	081757,4806.827,-12222.564,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	288.9,2805,-18.2,-10.000
SPEED_LIMITS	0.100,0.261	D_GRID	100

FINISH	0.9,0.997325	_24V_AH	23.8,38.391
SM_CCo	1985,172.15,0.004,23,0,1044,350.53	_10V_AH	9.7,41.368
SM_GC	0.00,0.00,0.00,172.15,0.000,0.000,0.004,144,1951,1044,-11.72,-3.36,350.53	DATA_FILE_SIZE	3306,166
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	64221,8
TT8_MAMPS	0.049088	CFSIZE	260165632,248127488
HUMID	1614	ERRORS	0,0,0,0,0,0,0,0,1,0,0,88,79,23,0
INTERNAL_PRESSURE	12.52	GPS	180708,085853,4806.966,-12222.792,29,1.1,29,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	4	3.81	SBE_CT	128	24	73.57
Roll_motor	16	3	1.54	nil	0	0	0.00
VBD_pump_during_apogee	250	4	27.39	nil	0	0	0.00
VBD_pump_during_surface	172	3	15.71	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	104	223	553.66
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	50	11.11
TT8	356	18	62.24
LPSleep	906	0	3.43
TT8_Active	648	18	113.27
TT8_Sampling	239	38	88.43
TT8_CF8	561	44	239.62
TT8_Kalman	33	80	25.88
Analog_circuits	862	12	100.37
GPS_charging	0	0	0.00
Compass	179	26	45.18
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
90	end surface: CONTROL_FINISHED_OK
state	90	begin dive
93	-1.32	-146.6	0.0	0.0	0	163	0.00	0.00	-67.38	0.000	6	0.000	0.000	146	2178	3080
167	-1.32	-146.6	0.6	-0.8	7	181	11.62	0.00	0.00	0.000	6	0.004	0.000	2457	2179	3079
208	-1.32	-146.6	8.9	-22.0	11	211	0.40	0.00	0.00	0.000	6	0.004	0.000	2381	2178	3080
240	-1.32	-146.6	13.0	-14.4	14	242	0.35	0.00	0.00	0.000	6	0.004	0.000	2460	2180	3080
272	-1.32	-146.6	17.2	-13.3	17	274	0.47	0.00	0.00	0.000	6	0.003	0.000	2345	2178	3080
304	-1.32	-146.6	21.3	-12.6	20	306	0.47	0.00	0.00	0.000	6	0.004	0.000	2451	2178	3080
336	-1.32	-146.6	25.2	-12.4	23	338	0.40	0.00	0.00	0.000	6	0.003	0.000	2380	2179	3080
368	-1.32	-146.6	29.1	-12.2	26	370	0.32	0.00	0.00	0.000	6	0.004	0.000	2416	2178	3080
400	-1.32	-146.6	33.0	-12.2	29	401	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2179	3080
432	-1.32	-146.6	36.9	-12.3	32	433	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2179	3081
463	-1.32	-146.6	40.9	-12.4	35	464	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2178	3080
495	-1.32	-146.6	44.7	-12.4	38	496	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2178	3080
527	-1.32	-146.6	48.5	-11.9	41	528	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2179	3080
559	-1.32	-146.6	52.2	-11.8	44	560	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2178	3079
591	-1.32	-146.6	56.1	-11.9	47	592	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2178	3079
623	-1.32	-146.6	59.9	-12.1	50	628	0.00	2.42	0.00	0.000	4	0.000	0.004	2415	3629	3078
745	-1.32	-146.6	75.0	-11.7	60	751	0.00	2.90	0.00	0.000	6	0.000	0.004	2417	1901	3081
783	-1.32	-146.6	79.7	-12.9	64	784	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	1902	3080
815	-1.32	-146.6	83.8	-12.8	67	816	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	1900	3080
846	-1.32	-146.6	87.7	-12.7	70	848	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	1902	3080
865	end dive: TARGET_DEPTH_EXCEEDED
state	865	begin apogee
872	-0.31	0.0	90.3	12.2	72	999	1.20	0.00	122.95	0.005	6	0.004	0.000	2680	2216	2471
1000	end apogee: CONTROL_FINISHED_OK
state	1000	begin climb
1003	1.32	146.6	92.9	0.0	85	1130	1.77	0.00	120.78	0.005	6	0.004	0.000	3017	2216	1875
1162	1.32	146.6	79.6	11.7	101	1164	0.35	0.00	0.00	0.000	6	0.003	0.000	2944	2216	1875
1193	1.32	146.6	76.0	11.4	104	1195	0.32	0.00	0.00	0.000	6	0.004	0.000	3018	2217	1875
1225	1.32	146.6	72.4	11.2	107	1227	0.30	0.00	0.00	0.000	6	0.004	0.000	2940	2215	1876
1257	1.32	146.6	68.7	11.3	110	1259	0.35	0.00	0.00	0.000	6	0.003	0.000	3016	2216	1875
1289	1.32	146.6	65.1	11.3	113	1291	0.43	0.00	0.00	0.000	6	0.003	0.000	2940	2217	1874
1320	1.32	146.6	61.5	11.4	116	1323	0.38	0.00	0.00	0.000	6	0.004	0.000	3018	2216	1874
1352	1.32	146.6	57.9	11.3	119	1355	0.35	0.00	0.00	0.000	6	0.003	0.000	2942	2217	1875
1384	1.32	146.6	54.4	11.2	122	1387	0.43	0.00	0.00	0.000	6	0.004	0.000	3013	2215	1875
1416	1.32	146.6	51.0	10.8	125	1421	0.25	2.53	0.00	0.000	4	0.005	0.004	2935	3665	1875
1726	1.32	151.4	18.2	9.8	152	1740	0.30	2.97	6.35	0.005	6	0.004	0.004	3010	1902	1854
1779	1.32	151.4	12.7	10.4	157	1785	0.38	3.03	0.00	0.000	4	0.004	0.004	2934	3665	1856
1877	end climb: SURFACE_DEPTH_REACHED
state	1877	begin surface coast
1889	end surface coast: CONTROL_FINISHED_OK
state	1889	begin surface