Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 307 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 307 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2084189.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2084189.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 15 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 307 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 164308,6247.366,-600.228,34,1.2,34,-8.0 TGT_NAME N_ADCP

_CALLS 1 TGT_LATLONG 6247.440,-604.422

_XMS_NAKs 0 TGT_RADIUS 1.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.040,0.218

_SM_DEPTHo 1.35 KALMAN_X 49850.5,95.5,-116.0,113317.6,5133.0

_SM_ANGLEo -64.6 KALMAN_Y 30780.5,2344.1,1066.3,93793.8,-47970.3

GPS2 164823,6247.358,-600.209,12,3.9,31,-8.0 MHEAD_RNG_PITCHd_Wd 280.4,3571,-26.2,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027431 ALTIM_BOTTOM_PING 375.4,97.7

SM_CCo 10459,132.12,0.644,3,0,1593,300.00 _24V_AH 23.6,50.572

SM_GC 1.49,0.00,0.00,132.12,0.000,0.000,0.644,74,2398,1593,-10.75,-0.06,300.00 _10V_AH 10.2,25.718

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 25339,495

TT8_MAMPS 0.023777 CFSIZE 260165632,242008064

HUMID 2051 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,3,0

TCM_TEMP 19.00 GPS 100108,194708,6248.044,-601.933,30,1.3,30,-8.0

XPDR_PINGS 11

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 174 110.43 SBE_CT 353 24 200.33

Roll_motor 74 83 146.74 SBE_O2 348 19 156.27

VBD_pump_during_apogee 116 964 2645.06 WL_BB2F 371 105 919.60

VBD_pump_during_surface 132 643 2006.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.30 nil 0 0 0.00

Iridium_during_connect 40 160 153.33 nil 0 0 0.00

Iridium_during_xfer 120 223 636.21

Transponder_ping 5 420 54.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.65

TT8 989 19 199.90

LPSleep 7830 2 174.92

TT8_Active 377 19 76.32

TT8_Sampling 1372 39 557.06

TT8_CF8 359 45 167.83

TT8_Kalman 33 81 27.84

Analog_circuits 1008 12 123.42

GPS_charging 0 0 0.00

Compass 1324 8 108.05

RAFOS 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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.67 -31.1 0.0 0.0 0 79 0.00 0.00 -54.67 0.000 6 0.000 0.000 73 2404 2945

82 -1.70 -53.9 2.2 -3.1 2 104 11.12 2.60 -2.55 0.000 4 0.174 0.084 2031 3759 3039

356 -1.70 -53.9 46.4 -16.9 14 360 0.00 2.53 0.00 0.000 6 0.000 0.057 2031 2393 3039

677 -1.70 -53.9 94.7 -14.4 30 681 0.00 2.60 0.00 0.000 4 0.000 0.076 2031 3766 3040

772 -1.70 -53.9 108.2 -14.5 34 776 0.00 2.53 0.00 0.000 6 0.000 0.060 2031 2401 3040

1096 -1.70 -53.9 151.9 -13.5 50 1100 0.00 2.60 0.00 0.000 4 0.000 0.076 2031 3769 3040

1158 -1.70 -53.9 161.2 -13.8 53 1162 0.00 2.55 0.00 0.000 6 0.000 0.059 2031 2393 3040

1484 -1.70 -53.9 203.6 -13.0 69 1485 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2393 3040

1793 -1.70 -53.9 243.7 -12.9 84 1794 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2393 3040

2102 -1.70 -53.9 283.1 -12.8 99 2103 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2393 3040

2412 -1.70 -53.9 322.3 -12.8 114 2413 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2393 3040

2721 -1.70 -53.9 362.8 -13.3 129 2722 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2393 3040

3030 -1.70 -53.9 400.3 -12.5 144 3031 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2393 3041

3340 -1.70 -53.9 440.1 -12.5 159 3344 0.00 2.62 0.00 0.000 4 0.000 0.080 2031 3766 3041

3508 end dive: BOTTOM_OBSTACLE_DETECTED

state 3508 begin apogee

3517 -0.31 0.0 463.3 13.9 166 3567 1.55 0.00 46.78 0.964 6 0.125 0.000 2334 2197 2817

3568 end apogee: CONTROL_FINISHED_OK

state 3568 begin climb

3571 1.70 53.9 466.5 0.0 169 3625 2.05 2.75 44.65 0.963 4 0.072 0.073 2779 778 2597

3760 1.70 53.9 455.6 6.4 177 3766 0.00 2.60 0.00 0.000 6 0.000 0.051 2779 2196 2596

4076 1.70 53.9 438.7 6.2 193 4080 0.00 2.72 0.00 0.000 4 0.000 0.081 2779 3621 2596

4252 1.70 56.5 428.3 5.7 201 4261 0.00 2.70 3.90 0.600 6 0.000 0.067 2779 2193 2586

4584 1.71 66.1 412.1 4.8 217 4598 0.00 2.78 9.45 0.828 4 0.000 0.082 2779 3619 2547

4850 1.71 66.1 394.7 7.0 228 4855 0.00 2.67 0.00 0.000 6 0.000 0.067 2779 2200 2546

5172 1.71 66.1 372.8 6.6 244 5173 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2200 2546

5481 1.72 73.6 354.7 5.0 259 5495 0.00 2.78 7.35 0.765 4 0.000 0.084 2779 3616 2516

5750 1.72 73.6 337.0 6.4 271 5754 0.00 2.65 0.00 0.000 6 0.000 0.065 2779 2199 2515

6076 1.72 73.6 316.1 6.6 287 6080 0.00 2.70 0.00 0.000 4 0.000 0.081 2778 3615 2515

6332 1.72 73.6 297.1 8.0 298 6339 0.00 2.67 0.00 0.000 6 0.000 0.067 2779 2193 2515

6648 1.72 73.6 275.1 7.0 314 6652 0.00 2.70 0.00 0.000 4 0.000 0.080 2779 3614 2515

6844 1.72 73.6 260.0 7.8 323 6848 0.00 2.65 0.00 0.000 6 0.000 0.067 2778 2199 2514

7169 1.72 73.6 236.8 7.0 339 7171 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2199 2515

7479 1.72 73.6 216.3 6.8 354 7483 0.00 2.70 0.00 0.000 4 0.000 0.077 2779 3622 2514

7642 1.72 73.6 204.4 7.3 361 7647 0.00 2.65 0.00 0.000 6 0.000 0.066 2778 2198 2514

7957 1.72 73.6 183.6 6.5 376 7959 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2197 2514

8267 1.72 73.6 162.5 6.9 391 8269 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2197 2515

8576 1.72 73.6 137.3 8.4 406 8577 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2197 2515

8885 1.72 73.6 111.0 8.9 421 8890 0.00 2.67 0.00 0.000 4 0.000 0.077 2779 3616 2514

8948 1.72 73.6 106.1 7.5 424 8953 0.00 2.65 0.00 0.000 6 0.000 0.065 2779 2194 2514

9274 1.72 74.4 84.5 5.9 440 9276 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2194 2515

9584 1.72 76.6 66.7 5.7 455 9593 0.00 2.70 4.12 0.505 4 0.000 0.077 2778 3619 2504

9779 1.72 76.6 51.1 8.6 463 9785 0.00 2.65 0.00 0.000 6 0.000 0.065 2779 2198 2504

10096 1.72 76.6 26.0 8.2 479 10097 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2198 2503

10404 1.72 76.6 2.3 8.1 494 10408 0.00 2.67 0.00 0.000 4 0.000 0.077 2779 3617 2504

10411 end climb: SURFACE_DEPTH_REACHED

state 10412 begin surface coast

10435 end surface coast: CONTROL_FINISHED_OK

state 10435 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	307	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2084189.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	164308,6247.366,-600.228,34,1.2,34,-8.0	TGT_NAME	N_ADCP
_CALLS	1	TGT_LATLONG	6247.440,-604.422
_XMS_NAKs	0	TGT_RADIUS	1.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.040,0.218
_SM_DEPTHo	1.35	KALMAN_X	49850.5,95.5,-116.0,113317.6,5133.0
_SM_ANGLEo	-64.6	KALMAN_Y	30780.5,2344.1,1066.3,93793.8,-47970.3
GPS2	164823,6247.358,-600.209,12,3.9,31,-8.0	MHEAD_RNG_PITCHd_Wd	280.4,3571,-26.2,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027431	ALTIM_BOTTOM_PING	375.4,97.7
SM_CCo	10459,132.12,0.644,3,0,1593,300.00	_24V_AH	23.6,50.572
SM_GC	1.49,0.00,0.00,132.12,0.000,0.000,0.644,74,2398,1593,-10.75,-0.06,300.00	_10V_AH	10.2,25.718
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	25339,495
TT8_MAMPS	0.023777	CFSIZE	260165632,242008064
HUMID	2051	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,3,0
TCM_TEMP	19.00	GPS	100108,194708,6248.044,-601.933,30,1.3,30,-8.0
XPDR_PINGS	11

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	174	110.43	SBE_CT	353	24	200.33
Roll_motor	74	83	146.74	SBE_O2	348	19	156.27
VBD_pump_during_apogee	116	964	2645.06	WL_BB2F	371	105	919.60
VBD_pump_during_surface	132	643	2006.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.30	nil	0	0	0.00
Iridium_during_connect	40	160	153.33	nil	0	0	0.00
Iridium_during_xfer	120	223	636.21
Transponder_ping	5	420	54.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.65
TT8	989	19	199.90
LPSleep	7830	2	174.92
TT8_Active	377	19	76.32
TT8_Sampling	1372	39	557.06
TT8_CF8	359	45	167.83
TT8_Kalman	33	81	27.84
Analog_circuits	1008	12	123.42
GPS_charging	0	0	0.00
Compass	1324	8	108.05
RAFOS	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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.67	-31.1	0.0	0.0	0	79	0.00	0.00	-54.67	0.000	6	0.000	0.000	73	2404	2945
82	-1.70	-53.9	2.2	-3.1	2	104	11.12	2.60	-2.55	0.000	4	0.174	0.084	2031	3759	3039
356	-1.70	-53.9	46.4	-16.9	14	360	0.00	2.53	0.00	0.000	6	0.000	0.057	2031	2393	3039
677	-1.70	-53.9	94.7	-14.4	30	681	0.00	2.60	0.00	0.000	4	0.000	0.076	2031	3766	3040
772	-1.70	-53.9	108.2	-14.5	34	776	0.00	2.53	0.00	0.000	6	0.000	0.060	2031	2401	3040
1096	-1.70	-53.9	151.9	-13.5	50	1100	0.00	2.60	0.00	0.000	4	0.000	0.076	2031	3769	3040
1158	-1.70	-53.9	161.2	-13.8	53	1162	0.00	2.55	0.00	0.000	6	0.000	0.059	2031	2393	3040
1484	-1.70	-53.9	203.6	-13.0	69	1485	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2393	3040
1793	-1.70	-53.9	243.7	-12.9	84	1794	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2393	3040
2102	-1.70	-53.9	283.1	-12.8	99	2103	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2393	3040
2412	-1.70	-53.9	322.3	-12.8	114	2413	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2393	3040
2721	-1.70	-53.9	362.8	-13.3	129	2722	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2393	3040
3030	-1.70	-53.9	400.3	-12.5	144	3031	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2393	3041
3340	-1.70	-53.9	440.1	-12.5	159	3344	0.00	2.62	0.00	0.000	4	0.000	0.080	2031	3766	3041
3508	end dive: BOTTOM_OBSTACLE_DETECTED
state	3508	begin apogee
3517	-0.31	0.0	463.3	13.9	166	3567	1.55	0.00	46.78	0.964	6	0.125	0.000	2334	2197	2817
3568	end apogee: CONTROL_FINISHED_OK
state	3568	begin climb
3571	1.70	53.9	466.5	0.0	169	3625	2.05	2.75	44.65	0.963	4	0.072	0.073	2779	778	2597
3760	1.70	53.9	455.6	6.4	177	3766	0.00	2.60	0.00	0.000	6	0.000	0.051	2779	2196	2596
4076	1.70	53.9	438.7	6.2	193	4080	0.00	2.72	0.00	0.000	4	0.000	0.081	2779	3621	2596
4252	1.70	56.5	428.3	5.7	201	4261	0.00	2.70	3.90	0.600	6	0.000	0.067	2779	2193	2586
4584	1.71	66.1	412.1	4.8	217	4598	0.00	2.78	9.45	0.828	4	0.000	0.082	2779	3619	2547
4850	1.71	66.1	394.7	7.0	228	4855	0.00	2.67	0.00	0.000	6	0.000	0.067	2779	2200	2546
5172	1.71	66.1	372.8	6.6	244	5173	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2200	2546
5481	1.72	73.6	354.7	5.0	259	5495	0.00	2.78	7.35	0.765	4	0.000	0.084	2779	3616	2516
5750	1.72	73.6	337.0	6.4	271	5754	0.00	2.65	0.00	0.000	6	0.000	0.065	2779	2199	2515
6076	1.72	73.6	316.1	6.6	287	6080	0.00	2.70	0.00	0.000	4	0.000	0.081	2778	3615	2515
6332	1.72	73.6	297.1	8.0	298	6339	0.00	2.67	0.00	0.000	6	0.000	0.067	2779	2193	2515
6648	1.72	73.6	275.1	7.0	314	6652	0.00	2.70	0.00	0.000	4	0.000	0.080	2779	3614	2515
6844	1.72	73.6	260.0	7.8	323	6848	0.00	2.65	0.00	0.000	6	0.000	0.067	2778	2199	2514
7169	1.72	73.6	236.8	7.0	339	7171	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2199	2515
7479	1.72	73.6	216.3	6.8	354	7483	0.00	2.70	0.00	0.000	4	0.000	0.077	2779	3622	2514
7642	1.72	73.6	204.4	7.3	361	7647	0.00	2.65	0.00	0.000	6	0.000	0.066	2778	2198	2514
7957	1.72	73.6	183.6	6.5	376	7959	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2197	2514
8267	1.72	73.6	162.5	6.9	391	8269	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2197	2515
8576	1.72	73.6	137.3	8.4	406	8577	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2197	2515
8885	1.72	73.6	111.0	8.9	421	8890	0.00	2.67	0.00	0.000	4	0.000	0.077	2779	3616	2514
8948	1.72	73.6	106.1	7.5	424	8953	0.00	2.65	0.00	0.000	6	0.000	0.065	2779	2194	2514
9274	1.72	74.4	84.5	5.9	440	9276	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2194	2515
9584	1.72	76.6	66.7	5.7	455	9593	0.00	2.70	4.12	0.505	4	0.000	0.077	2778	3619	2504
9779	1.72	76.6	51.1	8.6	463	9785	0.00	2.65	0.00	0.000	6	0.000	0.065	2779	2198	2504
10096	1.72	76.6	26.0	8.2	479	10097	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2198	2503
10404	1.72	76.6	2.3	8.1	494	10408	0.00	2.67	0.00	0.000	4	0.000	0.077	2779	3617	2504
10411	end climb: SURFACE_DEPTH_REACHED
state	10412	begin surface coast
10435	end surface coast: CONTROL_FINISHED_OK
state	10435	begin surface