Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 16 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2750 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 1700 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 330 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 350 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -143286.92 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 330

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -143286.92

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 350

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 1700 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2750 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 9 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 16 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 082925,6115.220,-919.839,52,1.4,52,-9.3 TGT_NAME AW

_CALLS 3 TGT_LATLONG 6130.000,-930.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.140,0.221

_SM_DEPTHo 1.13 KALMAN_X -6854.5,183.6,112.2,15278.8,-457.6

_SM_ANGLEo -54.2 KALMAN_Y -36007.6,990.6,951.6,41417.6,-11180.5

GPS2 084052,6115.233,-919.518,16,2.9,35,-9.3 MHEAD_RNG_PITCHd_Wd 41.7,28875,-18.2,-10.000

SPEED_LIMITS 0.173,0.262 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.014446 ALTIM_BOTTOM_PING 476.3,34.8

SM_CCo 8509,23.60,0.726,0,0,1679,300.00 _24V_AH 23.4,12.443

SM_GC 0.83,0.00,0.00,23.60,0.000,0.000,0.726,52,2748,1679,-10.98,-0.06,300.00 _10V_AH 10.1,5.463

IRIDIUM_FIX 6050.49,-916.72,220598,080837 DATA_FILE_SIZE 19092,408

TT8_MAMPS 0.029146 CAP_FILE_SIZE 66824,0

HUMID 1755 CFSIZE 260165632,256708608

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 GPS 250209,110507,6116.503,-915.554,30,1.9,30,-9.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 163 106.18 SBE_CT 286 24 161.17

Roll_motor 60 72 103.20 SBE_O2 291 19 129.66

VBD_pump_during_apogee 339 1037 8252.10 WL_BB2F 300 105 737.14

VBD_pump_during_surface 23 726 401.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 91 103 220.25 nil 0 0 0.00

Iridium_during_connect 82 160 309.29 nil 0 0 0.00

Iridium_during_xfer 254 223 1326.45

Transponder_ping 3 420 36.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.50

TT8 764 19 152.83

LPSleep 6439 2 142.43

TT8_Active 421 19 84.31

TT8_Sampling 1000 39 402.03

TT8_CF8 605 45 280.12

TT8_Kalman 33 81 27.55

Analog_circuits 928 12 112.59

GPS_charging 0 0 0.00

Compass 950 8 76.81

RAFOS 0 0 0.00

Transponder 27 30 8.33

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.70 -146.6 0.0 0.0 0 79 0.00 0.00 -61.45 0.000 2 0.000 0.000 50 2750 3467

82 -1.70 -146.6 5.1 -9.9 3 104 11.50 2.65 -0.47 0.000 4 0.163 0.073 2061 1342 3502

358 -1.70 -146.6 51.8 -13.2 15 362 0.00 2.67 0.00 0.000 6 0.000 0.072 2061 2759 3502

679 -1.70 -146.6 95.8 -15.4 31 683 0.00 2.65 0.00 0.000 4 0.000 0.069 2061 1339 3502

745 -1.70 -146.6 104.5 -11.6 34 750 0.00 2.67 0.00 0.000 6 0.000 0.073 2061 2754 3503

1067 -1.70 -146.6 139.9 -10.9 50 1068 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2754 3502

1376 -1.70 -146.6 173.5 -11.5 65 1377 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2754 3502

1685 -1.70 -146.6 212.6 -13.0 80 1686 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2754 3502

1994 -1.70 -146.6 253.0 -13.0 95 1996 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2755 3502

2304 -1.70 -146.6 291.7 -12.4 110 2305 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2755 3502

2613 -1.70 -146.6 330.2 -12.4 125 2614 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2755 3502

2922 -1.70 -146.6 366.5 -11.8 140 2923 0.00 0.00 0.00 0.000 6 0.000 0.000 2062 2754 3502

3231 -1.70 -146.6 402.8 -11.7 155 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2755 3502

3541 -1.70 -146.6 439.7 -11.5 170 3545 0.00 2.62 0.00 0.000 4 0.000 0.067 2061 1330 3502

3574 -1.70 -146.6 443.6 -11.2 171 3580 0.00 2.67 0.00 0.000 6 0.000 0.069 2061 2760 3502

3891 -1.70 -146.6 481.3 -12.2 187 3892 0.00 0.00 0.00 0.000 6 0.000 0.000 2061 2760 3502

4052 end dive: BOTTOM_OBSTACLE_DETECTED

state 4052 begin apogee

4061 -0.42 0.0 501.2 11.8 195 4186 1.45 0.00 120.88 1.038 6 0.105 0.000 2345 1704 2902

4187 end apogee: CONTROL_FINISHED_OK

state 4187 begin climb

4190 1.70 146.6 506.7 0.0 201 4319 2.15 2.65 119.88 1.015 4 0.059 0.058 2812 290 2304

4356 1.84 262.0 506.4 4.7 209 4460 0.12 2.50 95.22 0.999 6 0.048 0.033 2846 1739 1833

4769 1.84 262.0 458.9 12.1 229 4773 0.00 2.67 0.00 0.000 4 0.000 0.059 2846 287 1833

4847 1.84 262.0 448.2 13.4 232 4853 0.00 2.42 0.00 0.000 6 0.000 0.034 2847 1683 1832

5162 1.84 262.0 408.2 12.5 248 5167 0.00 2.55 0.00 0.000 4 0.000 0.058 2846 290 1833

5241 1.84 262.0 398.1 12.5 251 5247 0.00 2.45 0.00 0.000 6 0.000 0.034 2846 1702 1833

5556 1.84 262.0 359.6 12.5 267 5561 0.00 2.58 0.00 0.000 4 0.000 0.058 2846 290 1832

5709 1.84 262.0 338.4 13.8 274 5713 0.00 2.47 0.00 0.000 6 0.000 0.035 2847 1708 1833

6035 1.84 262.0 295.9 13.0 290 6036 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 1708 1833

6344 1.84 262.0 256.3 12.6 305 6349 0.00 2.60 0.00 0.000 4 0.000 0.058 2847 290 1832

6395 1.84 262.0 249.2 14.1 307 6399 0.00 2.47 0.00 0.000 6 0.000 0.036 2847 1708 1832

6710 1.84 262.0 210.0 12.6 322 6712 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 1708 1832

7020 1.84 262.0 172.6 11.8 337 7024 0.00 2.60 0.00 0.000 4 0.000 0.058 2846 290 1832

7086 1.84 262.0 163.8 13.1 340 7090 0.00 2.47 0.00 0.000 6 0.000 0.035 2847 1711 1832

7407 1.84 262.0 124.6 12.2 356 7409 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 1711 1832

7717 1.84 262.0 90.0 10.5 371 7721 0.00 2.62 0.00 0.000 4 0.000 0.060 2847 284 1832

7805 1.84 262.0 80.3 13.4 375 7810 0.00 2.47 0.00 0.000 6 0.000 0.036 2847 1704 1832

8128 1.84 264.8 46.9 9.9 391 8137 0.00 2.62 3.85 0.560 4 0.000 0.058 2846 296 1822

8244 1.84 264.8 29.6 14.3 396 8248 0.00 2.45 0.00 0.000 6 0.000 0.036 2847 1697 1822

8459 end climb: SURFACE_DEPTH_REACHED

state 8459 begin surface coast

8483 end surface coast: CONTROL_FINISHED_OK

state 8483 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	16	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2750	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	1700	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	350	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-143286.92	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	082925,6115.220,-919.839,52,1.4,52,-9.3	TGT_NAME	AW
_CALLS	3	TGT_LATLONG	6130.000,-930.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.140,0.221
_SM_DEPTHo	1.13	KALMAN_X	-6854.5,183.6,112.2,15278.8,-457.6
_SM_ANGLEo	-54.2	KALMAN_Y	-36007.6,990.6,951.6,41417.6,-11180.5
GPS2	084052,6115.233,-919.518,16,2.9,35,-9.3	MHEAD_RNG_PITCHd_Wd	41.7,28875,-18.2,-10.000
SPEED_LIMITS	0.173,0.262	D_GRID	990

FINISH	0.3,1.014446	ALTIM_BOTTOM_PING	476.3,34.8
SM_CCo	8509,23.60,0.726,0,0,1679,300.00	_24V_AH	23.4,12.443
SM_GC	0.83,0.00,0.00,23.60,0.000,0.000,0.726,52,2748,1679,-10.98,-0.06,300.00	_10V_AH	10.1,5.463
IRIDIUM_FIX	6050.49,-916.72,220598,080837	DATA_FILE_SIZE	19092,408
TT8_MAMPS	0.029146	CAP_FILE_SIZE	66824,0
HUMID	1755	CFSIZE	260165632,256708608
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	250209,110507,6116.503,-915.554,30,1.9,30,-9.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	163	106.18	SBE_CT	286	24	161.17
Roll_motor	60	72	103.20	SBE_O2	291	19	129.66
VBD_pump_during_apogee	339	1037	8252.10	WL_BB2F	300	105	737.14
VBD_pump_during_surface	23	726	401.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	91	103	220.25	nil	0	0	0.00
Iridium_during_connect	82	160	309.29	nil	0	0	0.00
Iridium_during_xfer	254	223	1326.45
Transponder_ping	3	420	36.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.50
TT8	764	19	152.83
LPSleep	6439	2	142.43
TT8_Active	421	19	84.31
TT8_Sampling	1000	39	402.03
TT8_CF8	605	45	280.12
TT8_Kalman	33	81	27.55
Analog_circuits	928	12	112.59
GPS_charging	0	0	0.00
Compass	950	8	76.81
RAFOS	0	0	0.00
Transponder	27	30	8.33

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.70	-146.6	0.0	0.0	0	79	0.00	0.00	-61.45	0.000	2	0.000	0.000	50	2750	3467
82	-1.70	-146.6	5.1	-9.9	3	104	11.50	2.65	-0.47	0.000	4	0.163	0.073	2061	1342	3502
358	-1.70	-146.6	51.8	-13.2	15	362	0.00	2.67	0.00	0.000	6	0.000	0.072	2061	2759	3502
679	-1.70	-146.6	95.8	-15.4	31	683	0.00	2.65	0.00	0.000	4	0.000	0.069	2061	1339	3502
745	-1.70	-146.6	104.5	-11.6	34	750	0.00	2.67	0.00	0.000	6	0.000	0.073	2061	2754	3503
1067	-1.70	-146.6	139.9	-10.9	50	1068	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2754	3502
1376	-1.70	-146.6	173.5	-11.5	65	1377	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2754	3502
1685	-1.70	-146.6	212.6	-13.0	80	1686	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2754	3502
1994	-1.70	-146.6	253.0	-13.0	95	1996	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2755	3502
2304	-1.70	-146.6	291.7	-12.4	110	2305	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2755	3502
2613	-1.70	-146.6	330.2	-12.4	125	2614	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2755	3502
2922	-1.70	-146.6	366.5	-11.8	140	2923	0.00	0.00	0.00	0.000	6	0.000	0.000	2062	2754	3502
3231	-1.70	-146.6	402.8	-11.7	155	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2755	3502
3541	-1.70	-146.6	439.7	-11.5	170	3545	0.00	2.62	0.00	0.000	4	0.000	0.067	2061	1330	3502
3574	-1.70	-146.6	443.6	-11.2	171	3580	0.00	2.67	0.00	0.000	6	0.000	0.069	2061	2760	3502
3891	-1.70	-146.6	481.3	-12.2	187	3892	0.00	0.00	0.00	0.000	6	0.000	0.000	2061	2760	3502
4052	end dive: BOTTOM_OBSTACLE_DETECTED
state	4052	begin apogee
4061	-0.42	0.0	501.2	11.8	195	4186	1.45	0.00	120.88	1.038	6	0.105	0.000	2345	1704	2902
4187	end apogee: CONTROL_FINISHED_OK
state	4187	begin climb
4190	1.70	146.6	506.7	0.0	201	4319	2.15	2.65	119.88	1.015	4	0.059	0.058	2812	290	2304
4356	1.84	262.0	506.4	4.7	209	4460	0.12	2.50	95.22	0.999	6	0.048	0.033	2846	1739	1833
4769	1.84	262.0	458.9	12.1	229	4773	0.00	2.67	0.00	0.000	4	0.000	0.059	2846	287	1833
4847	1.84	262.0	448.2	13.4	232	4853	0.00	2.42	0.00	0.000	6	0.000	0.034	2847	1683	1832
5162	1.84	262.0	408.2	12.5	248	5167	0.00	2.55	0.00	0.000	4	0.000	0.058	2846	290	1833
5241	1.84	262.0	398.1	12.5	251	5247	0.00	2.45	0.00	0.000	6	0.000	0.034	2846	1702	1833
5556	1.84	262.0	359.6	12.5	267	5561	0.00	2.58	0.00	0.000	4	0.000	0.058	2846	290	1832
5709	1.84	262.0	338.4	13.8	274	5713	0.00	2.47	0.00	0.000	6	0.000	0.035	2847	1708	1833
6035	1.84	262.0	295.9	13.0	290	6036	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	1708	1833
6344	1.84	262.0	256.3	12.6	305	6349	0.00	2.60	0.00	0.000	4	0.000	0.058	2847	290	1832
6395	1.84	262.0	249.2	14.1	307	6399	0.00	2.47	0.00	0.000	6	0.000	0.036	2847	1708	1832
6710	1.84	262.0	210.0	12.6	322	6712	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	1708	1832
7020	1.84	262.0	172.6	11.8	337	7024	0.00	2.60	0.00	0.000	4	0.000	0.058	2846	290	1832
7086	1.84	262.0	163.8	13.1	340	7090	0.00	2.47	0.00	0.000	6	0.000	0.035	2847	1711	1832
7407	1.84	262.0	124.6	12.2	356	7409	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	1711	1832
7717	1.84	262.0	90.0	10.5	371	7721	0.00	2.62	0.00	0.000	4	0.000	0.060	2847	284	1832
7805	1.84	262.0	80.3	13.4	375	7810	0.00	2.47	0.00	0.000	6	0.000	0.036	2847	1704	1832
8128	1.84	264.8	46.9	9.9	391	8137	0.00	2.62	3.85	0.560	4	0.000	0.058	2846	296	1822
8244	1.84	264.8	29.6	14.3	396	8248	0.00	2.45	0.00	0.000	6	0.000	0.036	2847	1697	1822
8459	end climb: SURFACE_DEPTH_REACHED
state	8459	begin surface coast
8483	end surface coast: CONTROL_FINISHED_OK
state	8483	begin surface