Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 336 * 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 336 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 566.1524 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 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 -2084995.1 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 566.1524

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 -2084995.1

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 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 336 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 202122,6246.170,-558.067,38,2.8,57,-8.0 TGT_NAME N_ADCP

_CALLS 5 TGT_LATLONG 6247.440,-604.422

_XMS_NAKs 0 TGT_RADIUS 1.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.169,0.143

_SM_DEPTHo 1.03 KALMAN_X 93899.0,-2166.3,-871.6,74109.9,33694.2

_SM_ANGLEo -44.7 KALMAN_Y -9307.2,1621.2,736.6,132358.0,-30280.9

GPS2 203851,6245.950,-558.221,13,2.0,13,-8.0 MHEAD_RNG_PITCHd_Wd 305.7,5932,-14.7,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027429 ALTIM_BOTTOM_PING 350.6,86.3

SM_CCo 9718,237.57,0.653,3,0,509,566.15 _24V_AH 23.6,52.970

SM_GC 1.16,0.00,0.00,237.57,0.000,0.000,0.653,70,2408,509,-10.76,0.25,566.15 _10V_AH 10.2,27.496

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 22226,467

TT8_MAMPS 0.02301 CFSIZE 260165632,240771072

HUMID 2042 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,3,0

TCM_TEMP 16.90 GPS 140108,232708,6246.363,-600.309,37,1.7,37,-8.0

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 99.14 SBE_CT 334 24 189.32

Roll_motor 59 88 124.01 SBE_O2 326 19 146.24

VBD_pump_during_apogee 246 951 5539.52 WL_BB2F 361 105 894.81

VBD_pump_during_surface 237 652 3659.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 165 103 401.90 nil 0 0 0.00

Iridium_during_connect 402 160 1520.42 nil 0 0 0.00

Iridium_during_xfer 125 223 660.36

Transponder_ping 4 420 47.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.91

TT8 859 19 173.63

LPSleep 7692 2 171.84

TT8_Active 607 19 122.62

TT8_Sampling 999 39 405.79

TT8_CF8 868 45 405.59

TT8_Kalman 33 81 27.84

Analog_circuits 1104 12 135.16

GPS_charging 0 0 0.00

Compass 980 8 80.04

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.02 -90.8 0.0 0.0 0 107 0.00 0.00 -81.60 0.000 2 0.000 0.000 68 2400 3003

110 -1.08 -146.6 3.1 -3.0 4 140 11.65 2.65 -11.23 0.000 4 0.165 0.088 2170 3769 3415

314 -1.08 -146.6 35.1 -14.1 13 318 0.00 2.55 0.00 0.000 6 0.000 0.061 2170 2399 3416

637 -1.08 -146.6 74.2 -13.7 29 641 0.00 2.70 0.00 0.000 4 0.000 0.078 2170 980 3416

653 -1.08 -146.6 76.9 -14.9 30 658 0.00 2.62 0.00 0.000 6 0.000 0.061 2170 2404 3417

980 -1.08 -146.6 127.8 -13.2 46 981 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2404 3416

1290 -1.08 -146.6 161.1 -10.0 61 1291 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2404 3416

1599 -1.08 -146.6 199.6 -13.5 76 1600 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2404 3417

1908 -1.08 -146.6 233.5 -10.8 91 1909 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2404 3417

2218 -1.08 -146.6 269.6 -12.2 106 2219 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2404 3417

2527 -1.08 -146.6 303.2 -9.0 121 2529 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2404 3417

2836 -1.08 -146.6 331.8 -10.1 136 2840 0.00 2.72 0.00 0.000 4 0.000 0.077 2171 974 3417

2898 -1.08 -146.6 337.6 -9.6 139 2902 0.00 2.65 0.00 0.000 6 0.000 0.064 2170 2404 3416

3223 -1.08 -146.6 368.2 -9.8 155 3228 0.00 2.62 0.00 0.000 4 0.000 0.084 2171 3770 3417

3267 -1.08 -146.6 372.8 -9.5 157 3272 0.00 2.55 0.00 0.000 6 0.000 0.064 2170 2398 3417

3595 -1.08 -146.6 404.0 -9.2 173 3596 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2398 3417

3819 end dive: BOTTOM_OBSTACLE_DETECTED

state 3819 begin apogee

3825 -0.31 0.0 427.6 10.1 184 3948 0.85 0.00 120.00 0.952 6 0.114 0.000 2338 2195 2817

3949 end apogee: CONTROL_FINISHED_OK

state 3949 begin climb

3952 1.08 146.6 431.6 0.0 190 4079 1.42 2.80 117.62 0.937 4 0.072 0.077 2641 788 2217

4157 1.08 146.6 421.2 7.6 199 4163 0.00 2.62 0.00 0.000 6 0.000 0.055 2641 2200 2217

4473 1.08 146.6 398.3 7.0 215 4478 0.00 2.72 0.00 0.000 4 0.000 0.084 2641 3615 2216

4545 1.08 146.6 392.5 8.4 218 4549 0.00 2.70 0.00 0.000 6 0.000 0.071 2641 2204 2216

4860 1.08 146.6 369.5 7.2 233 4865 0.00 2.72 0.00 0.000 4 0.000 0.084 2641 3614 2216

4927 1.08 146.6 364.2 7.8 236 4931 0.00 2.70 0.00 0.000 6 0.000 0.071 2640 2198 2216

5247 1.08 146.6 339.4 8.0 252 5248 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2197 2216

5556 1.08 146.6 315.6 7.6 267 5560 0.00 2.72 0.00 0.000 4 0.000 0.084 2641 3619 2215

5601 1.08 146.6 312.1 8.7 269 5606 0.00 2.70 0.00 0.000 6 0.000 0.070 2641 2194 2215

5922 1.08 146.6 288.2 7.8 285 5923 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2194 2215

6231 1.08 146.6 266.0 7.0 300 6235 0.00 2.72 0.00 0.000 4 0.000 0.081 2641 3614 2215

6275 1.08 146.6 262.4 7.6 302 6279 0.00 2.65 0.00 0.000 6 0.000 0.068 2641 2202 2215

6595 1.08 146.6 237.9 8.0 318 6599 0.00 2.67 0.00 0.000 4 0.000 0.074 2641 784 2214

6644 1.08 146.6 233.7 8.3 320 6648 0.00 2.60 0.00 0.000 6 0.000 0.053 2641 2201 2213

6960 1.08 146.6 209.6 7.8 335 6961 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2201 2213

7269 1.08 146.6 187.7 6.9 350 7270 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2201 2213

7578 1.08 146.6 167.8 6.9 365 7579 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2201 2213

7888 1.08 146.6 143.6 8.2 380 7889 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2200 2213

8198 1.08 146.6 118.5 8.0 395 8199 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2201 2213

8507 1.09 157.1 95.6 5.5 410 8517 0.00 0.00 8.98 0.657 6 0.000 0.000 2641 2201 2176

8817 1.09 157.1 73.3 7.2 425 8818 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2201 2176

9126 1.09 157.1 50.3 8.3 440 9130 0.00 2.67 0.00 0.000 4 0.000 0.075 2641 3619 2176

9175 1.09 157.1 45.2 10.1 442 9179 0.00 2.67 0.00 0.000 6 0.000 0.065 2641 2196 2176

9492 1.09 157.1 15.5 10.5 457 9493 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2196 2176

9674 end climb: SURFACE_DEPTH_REACHED

state 9674 begin surface coast

9696 end surface coast: CONTROL_FINISHED_OK

state 9696 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	336	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	566.1524	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	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	-2084995.1	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	202122,6246.170,-558.067,38,2.8,57,-8.0	TGT_NAME	N_ADCP
_CALLS	5	TGT_LATLONG	6247.440,-604.422
_XMS_NAKs	0	TGT_RADIUS	1.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.169,0.143
_SM_DEPTHo	1.03	KALMAN_X	93899.0,-2166.3,-871.6,74109.9,33694.2
_SM_ANGLEo	-44.7	KALMAN_Y	-9307.2,1621.2,736.6,132358.0,-30280.9
GPS2	203851,6245.950,-558.221,13,2.0,13,-8.0	MHEAD_RNG_PITCHd_Wd	305.7,5932,-14.7,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027429	ALTIM_BOTTOM_PING	350.6,86.3
SM_CCo	9718,237.57,0.653,3,0,509,566.15	_24V_AH	23.6,52.970
SM_GC	1.16,0.00,0.00,237.57,0.000,0.000,0.653,70,2408,509,-10.76,0.25,566.15	_10V_AH	10.2,27.496
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	22226,467
TT8_MAMPS	0.02301	CFSIZE	260165632,240771072
HUMID	2042	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
TCM_TEMP	16.90	GPS	140108,232708,6246.363,-600.309,37,1.7,37,-8.0
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	99.14	SBE_CT	334	24	189.32
Roll_motor	59	88	124.01	SBE_O2	326	19	146.24
VBD_pump_during_apogee	246	951	5539.52	WL_BB2F	361	105	894.81
VBD_pump_during_surface	237	652	3659.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	165	103	401.90	nil	0	0	0.00
Iridium_during_connect	402	160	1520.42	nil	0	0	0.00
Iridium_during_xfer	125	223	660.36
Transponder_ping	4	420	47.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.91
TT8	859	19	173.63
LPSleep	7692	2	171.84
TT8_Active	607	19	122.62
TT8_Sampling	999	39	405.79
TT8_CF8	868	45	405.59
TT8_Kalman	33	81	27.84
Analog_circuits	1104	12	135.16
GPS_charging	0	0	0.00
Compass	980	8	80.04
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.02	-90.8	0.0	0.0	0	107	0.00	0.00	-81.60	0.000	2	0.000	0.000	68	2400	3003
110	-1.08	-146.6	3.1	-3.0	4	140	11.65	2.65	-11.23	0.000	4	0.165	0.088	2170	3769	3415
314	-1.08	-146.6	35.1	-14.1	13	318	0.00	2.55	0.00	0.000	6	0.000	0.061	2170	2399	3416
637	-1.08	-146.6	74.2	-13.7	29	641	0.00	2.70	0.00	0.000	4	0.000	0.078	2170	980	3416
653	-1.08	-146.6	76.9	-14.9	30	658	0.00	2.62	0.00	0.000	6	0.000	0.061	2170	2404	3417
980	-1.08	-146.6	127.8	-13.2	46	981	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2404	3416
1290	-1.08	-146.6	161.1	-10.0	61	1291	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2404	3416
1599	-1.08	-146.6	199.6	-13.5	76	1600	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2404	3417
1908	-1.08	-146.6	233.5	-10.8	91	1909	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2404	3417
2218	-1.08	-146.6	269.6	-12.2	106	2219	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2404	3417
2527	-1.08	-146.6	303.2	-9.0	121	2529	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2404	3417
2836	-1.08	-146.6	331.8	-10.1	136	2840	0.00	2.72	0.00	0.000	4	0.000	0.077	2171	974	3417
2898	-1.08	-146.6	337.6	-9.6	139	2902	0.00	2.65	0.00	0.000	6	0.000	0.064	2170	2404	3416
3223	-1.08	-146.6	368.2	-9.8	155	3228	0.00	2.62	0.00	0.000	4	0.000	0.084	2171	3770	3417
3267	-1.08	-146.6	372.8	-9.5	157	3272	0.00	2.55	0.00	0.000	6	0.000	0.064	2170	2398	3417
3595	-1.08	-146.6	404.0	-9.2	173	3596	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2398	3417
3819	end dive: BOTTOM_OBSTACLE_DETECTED
state	3819	begin apogee
3825	-0.31	0.0	427.6	10.1	184	3948	0.85	0.00	120.00	0.952	6	0.114	0.000	2338	2195	2817
3949	end apogee: CONTROL_FINISHED_OK
state	3949	begin climb
3952	1.08	146.6	431.6	0.0	190	4079	1.42	2.80	117.62	0.937	4	0.072	0.077	2641	788	2217
4157	1.08	146.6	421.2	7.6	199	4163	0.00	2.62	0.00	0.000	6	0.000	0.055	2641	2200	2217
4473	1.08	146.6	398.3	7.0	215	4478	0.00	2.72	0.00	0.000	4	0.000	0.084	2641	3615	2216
4545	1.08	146.6	392.5	8.4	218	4549	0.00	2.70	0.00	0.000	6	0.000	0.071	2641	2204	2216
4860	1.08	146.6	369.5	7.2	233	4865	0.00	2.72	0.00	0.000	4	0.000	0.084	2641	3614	2216
4927	1.08	146.6	364.2	7.8	236	4931	0.00	2.70	0.00	0.000	6	0.000	0.071	2640	2198	2216
5247	1.08	146.6	339.4	8.0	252	5248	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2197	2216
5556	1.08	146.6	315.6	7.6	267	5560	0.00	2.72	0.00	0.000	4	0.000	0.084	2641	3619	2215
5601	1.08	146.6	312.1	8.7	269	5606	0.00	2.70	0.00	0.000	6	0.000	0.070	2641	2194	2215
5922	1.08	146.6	288.2	7.8	285	5923	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2194	2215
6231	1.08	146.6	266.0	7.0	300	6235	0.00	2.72	0.00	0.000	4	0.000	0.081	2641	3614	2215
6275	1.08	146.6	262.4	7.6	302	6279	0.00	2.65	0.00	0.000	6	0.000	0.068	2641	2202	2215
6595	1.08	146.6	237.9	8.0	318	6599	0.00	2.67	0.00	0.000	4	0.000	0.074	2641	784	2214
6644	1.08	146.6	233.7	8.3	320	6648	0.00	2.60	0.00	0.000	6	0.000	0.053	2641	2201	2213
6960	1.08	146.6	209.6	7.8	335	6961	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2201	2213
7269	1.08	146.6	187.7	6.9	350	7270	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2201	2213
7578	1.08	146.6	167.8	6.9	365	7579	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2201	2213
7888	1.08	146.6	143.6	8.2	380	7889	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2200	2213
8198	1.08	146.6	118.5	8.0	395	8199	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2201	2213
8507	1.09	157.1	95.6	5.5	410	8517	0.00	0.00	8.98	0.657	6	0.000	0.000	2641	2201	2176
8817	1.09	157.1	73.3	7.2	425	8818	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2201	2176
9126	1.09	157.1	50.3	8.3	440	9130	0.00	2.67	0.00	0.000	4	0.000	0.075	2641	3619	2176
9175	1.09	157.1	45.2	10.1	442	9179	0.00	2.67	0.00	0.000	6	0.000	0.065	2641	2196	2176
9492	1.09	157.1	15.5	10.5	457	9493	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2196	2176
9674	end climb: SURFACE_DEPTH_REACHED
state	9674	begin surface coast
9696	end surface coast: CONTROL_FINISHED_OK
state	9696	begin surface