Glider dive log

PortSusan 17Sep09 * SG152 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 152 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 242 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3915 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 1950 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 400 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 INT_PRESSURE_YINT 0.69999999

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 70 UPLOAD_DIVES_MAX -1 VBD_MIN 540 DEVICE2 20

T_MISSION 100 CALL_TRIES 5 VBD_MAX 3950 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3210 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 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 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -13584.518 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 20 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 446 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3720 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2920 PRESSURE_YINT -87.183395 SEABIRD_T_G 0.0043139826

RHO 1.0276 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162351 SEABIRD_T_H 0.00063131854

MASS 51523 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3268194e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3261061e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.052959

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1241329

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057783123

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00013255829

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3720 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 446 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162351 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -87.183395 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

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 70

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -13584.518

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0276 T_MISSION 100

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 152 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3915 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2920 KALMAN_USE 1 ROLL_MIN 242 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1950 MASS 51523 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 3210 MAX_BUOY 200 R_STBD_OVSHOOT 38 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.052959 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1241329 VBD_MAX 3950

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057783123 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00013255829 VBD_MIN 540

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043139826 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063131854 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3268194e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3261061e-06 XPDR_DEVICE 24

DIVE 10 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1050 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 052031,4807.898,-12224.055,40,1.3,40,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.179,-0.187

_SM_DEPTHo 3.75 KALMAN_X -411.1,-104.4,-83.2,-2038.3,-79.8

_SM_ANGLEo -69.0 KALMAN_Y -280.6,-125.3,-21.6,3615.3,-62.0

GPS2 052826,4807.917,-12224.093,15,1.4,15,18.3 MHEAD_RNG_PITCHd_Wd 118.0,2170,-10.2,-7.143

SPEED_LIMITS 0.124,0.259 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.4,1.009798 ALTIM_BOTTOM_PING 85.4,27.0

SM_CCo 3705,27.85,0.732,0,0,1579,400.08 _24V_AH 23.5,1.958

SM_GC 3.45,0.00,0.00,27.85,0.000,0.000,0.732,437,1937,1579,-11.42,-0.37,400.08 _10V_AH 10.7,0.894

IRIDIUM_FIX 4748.51,-12219.12,131298,040447 DATA_FILE_SIZE 34862,639

TT8_MAMPS 0.021476 CAP_FILE_SIZE 66381,0

HUMID 2235 CFSIZE 260165632,237531136

INTERNAL_PRESSURE 9.41127 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 15.80 GPS 180909,063251,4807.649,-12223.704,8,6.2,27,18.3

XPDR_PINGS 46

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 100.59 SBE_CT 436 24 246.40

Roll_motor 57 79 107.26 SBE_O2 328 19 146.63

VBD_pump_during_apogee 396 839 7834.53 WL_BBFL2VMT 1119 105 2762.78

VBD_pump_during_surface 27 732 479.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.86 nil 0 0 0.00

Iridium_during_connect 28 160 107.47 nil 0 0 0.00

Iridium_during_xfer 210 223 1100.55

Transponder_ping 12 420 120.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.12

TT8 939 19 199.01

LPSleep 655 2 15.35

TT8_Active 469 19 99.49

TT8_Sampling 1494 39 636.25

TT8_CF8 658 45 322.86

TT8_Kalman 33 81 29.18

Analog_circuits 1143 12 146.77

GPS_charging 0 0 0.00

Compass 1491 8 127.69

RAFOS 0 0 0.00

Transponder 7 30 2.36

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -0.87 -194.6 0.0 0.0 0 27 0.00 0.00 -6.25 0.000 2 0.000 0.000 440 1934 1696

34 -0.87 -194.6 3.7 -0.0 1 169 12.52 2.40 -114.32 0.000 4 0.162 0.059 2729 3351 3948

180 -0.87 -194.6 5.6 -7.1 22 187 0.00 2.33 -0.05 0.000 6 0.000 0.035 2729 1960 3951

259 -0.87 -194.6 11.4 -6.6 35 265 0.00 2.53 0.00 0.000 4 0.000 0.072 2729 550 3951

322 -0.87 -194.6 15.4 -7.2 48 329 0.00 2.30 0.00 0.000 6 0.000 0.029 2729 1961 3951

399 -0.87 -194.6 20.0 -6.1 61 405 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1962 3951

474 -0.87 -194.6 24.5 -6.4 74 481 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1962 3951

551 -0.87 -194.6 29.1 -5.9 87 558 0.00 2.53 0.00 0.000 4 0.000 0.070 2729 555 3952

611 -0.87 -194.6 33.1 -7.0 99 617 0.00 2.28 0.00 0.000 6 0.000 0.031 2730 1947 3952

690 -0.87 -194.6 38.2 -6.5 112 696 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1947 3952

767 -0.87 -194.6 43.0 -6.4 125 772 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 1947 3952

909 -0.87 -194.6 51.9 -6.5 150 916 0.00 2.50 0.00 0.000 4 0.000 0.072 2729 560 3952

968 -0.87 -194.6 56.1 -7.3 162 976 0.00 2.28 0.00 0.000 6 0.000 0.033 2730 1946 3952

1115 -0.87 -194.6 65.0 -6.1 187 1121 0.00 2.47 0.00 0.000 4 0.000 0.077 2729 556 3952

1152 -0.87 -194.6 67.6 -6.5 194 1159 0.00 2.30 0.00 0.000 6 0.000 0.033 2729 1952 3952

1298 -0.87 -194.6 76.2 -6.1 219 1303 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1952 3952

1440 -0.87 -194.6 84.8 -6.1 244 1450 0.00 2.53 0.00 0.000 4 0.000 0.074 2730 556 3951

1485 -0.87 -194.6 87.6 -6.1 252 1493 0.00 2.30 0.00 0.000 6 0.000 0.034 2729 1952 3951

1632 -0.87 -194.6 96.4 -6.0 277 1637 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 1952 3951

1731 end dive: BOTTOM_OBSTACLE_DETECTED

state 1731 begin apogee

1743 -0.31 0.0 102.4 6.0 295 1892 0.52 0.00 143.07 0.840 6 0.074 0.000 2847 1951 3209

1893 end apogee: CONTROL_FINISHED_OK

state 1893 begin climb

1899 0.87 194.6 106.4 0.0 320 2063 1.15 2.47 155.38 0.795 4 0.060 0.044 3109 3391 2415

2111 0.87 194.6 93.8 7.2 355 2117 0.00 2.35 0.00 0.000 6 0.000 0.038 3109 2004 2413

2254 0.87 194.6 82.7 7.7 380 2262 0.00 2.58 0.00 0.000 4 0.000 0.079 3109 596 2410

2294 0.87 194.6 79.4 8.7 387 2300 0.00 2.30 0.00 0.000 6 0.000 0.032 3109 1999 2411

2437 0.87 194.6 68.2 7.5 412 2444 0.00 2.38 0.00 0.000 4 0.000 0.044 3109 3386 2410

2469 0.87 194.6 65.8 7.7 417 2475 0.00 2.35 0.00 0.000 6 0.000 0.038 3109 1993 2410

2613 0.87 194.6 54.5 7.7 442 2621 0.00 2.53 0.00 0.000 4 0.000 0.076 3108 600 2410

2656 0.87 194.6 51.1 8.8 450 2662 0.00 2.33 0.00 0.000 6 0.000 0.031 3109 2004 2410

2803 0.88 200.6 40.5 7.0 475 2815 0.00 0.00 5.53 0.624 6 0.000 0.000 3109 2007 2392

2886 0.88 200.6 34.3 7.5 489 2893 0.00 2.53 0.00 0.000 4 0.000 0.069 3109 602 2391

2908 0.88 200.6 32.6 7.3 492 2915 0.00 2.30 0.00 0.000 6 0.000 0.031 3109 1993 2390

2985 0.89 211.1 27.0 6.9 505 2999 0.00 0.00 10.30 0.729 6 0.000 0.000 3109 1996 2349

3070 0.90 218.5 20.8 7.0 519 3084 0.00 0.00 7.88 0.685 6 0.000 0.000 3109 1996 2319

3154 0.92 228.6 14.8 6.9 533 3168 0.00 0.00 9.85 0.713 6 0.000 0.000 3109 1996 2278

3240 0.94 246.7 8.8 6.7 547 3261 0.00 2.55 16.23 0.746 4 0.000 0.068 3109 598 2203

3511 1.35 579.3 4.3 -1.2 607 3566 0.38 2.30 48.72 0.757 2 0.040 0.030 3220 2009 1836

3567 end climb: SURFACE_DEPTH_REACHED

state 3567 begin surface coast

3674 end surface coast: CONTROL_FINISHED_OK

state 3674 begin surface

ID	152	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	242	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3915	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	1950	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	400	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	INT_PRESSURE_YINT	0.69999999
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	70	UPLOAD_DIVES_MAX	-1	VBD_MIN	540	DEVICE2	20
T_MISSION	100	CALL_TRIES	5	VBD_MAX	3950	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3210	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	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	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-13584.518	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	20	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	446	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3720	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2920	PRESSURE_YINT	-87.183395	SEABIRD_T_G	0.0043139826
RHO	1.0276	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162351	SEABIRD_T_H	0.00063131854
MASS	51523	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3268194e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3261061e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.052959
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1241329
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057783123
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00013255829
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	052031,4807.898,-12224.055,40,1.3,40,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.179,-0.187
_SM_DEPTHo	3.75	KALMAN_X	-411.1,-104.4,-83.2,-2038.3,-79.8
_SM_ANGLEo	-69.0	KALMAN_Y	-280.6,-125.3,-21.6,3615.3,-62.0
GPS2	052826,4807.917,-12224.093,15,1.4,15,18.3	MHEAD_RNG_PITCHd_Wd	118.0,2170,-10.2,-7.143
SPEED_LIMITS	0.124,0.259	D_GRID	150

FINISH	2.4,1.009798	ALTIM_BOTTOM_PING	85.4,27.0
SM_CCo	3705,27.85,0.732,0,0,1579,400.08	_24V_AH	23.5,1.958
SM_GC	3.45,0.00,0.00,27.85,0.000,0.000,0.732,437,1937,1579,-11.42,-0.37,400.08	_10V_AH	10.7,0.894
IRIDIUM_FIX	4748.51,-12219.12,131298,040447	DATA_FILE_SIZE	34862,639
TT8_MAMPS	0.021476	CAP_FILE_SIZE	66381,0
HUMID	2235	CFSIZE	260165632,237531136
INTERNAL_PRESSURE	9.41127	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	15.80	GPS	180909,063251,4807.649,-12223.704,8,6.2,27,18.3
XPDR_PINGS	46

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	100.59	SBE_CT	436	24	246.40
Roll_motor	57	79	107.26	SBE_O2	328	19	146.63
VBD_pump_during_apogee	396	839	7834.53	WL_BBFL2VMT	1119	105	2762.78
VBD_pump_during_surface	27	732	479.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.86	nil	0	0	0.00
Iridium_during_connect	28	160	107.47	nil	0	0	0.00
Iridium_during_xfer	210	223	1100.55
Transponder_ping	12	420	120.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.12
TT8	939	19	199.01
LPSleep	655	2	15.35
TT8_Active	469	19	99.49
TT8_Sampling	1494	39	636.25
TT8_CF8	658	45	322.86
TT8_Kalman	33	81	29.18
Analog_circuits	1143	12	146.77
GPS_charging	0	0	0.00
Compass	1491	8	127.69
RAFOS	0	0	0.00
Transponder	7	30	2.36

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-0.87	-194.6	0.0	0.0	0	27	0.00	0.00	-6.25	0.000	2	0.000	0.000	440	1934	1696
34	-0.87	-194.6	3.7	-0.0	1	169	12.52	2.40	-114.32	0.000	4	0.162	0.059	2729	3351	3948
180	-0.87	-194.6	5.6	-7.1	22	187	0.00	2.33	-0.05	0.000	6	0.000	0.035	2729	1960	3951
259	-0.87	-194.6	11.4	-6.6	35	265	0.00	2.53	0.00	0.000	4	0.000	0.072	2729	550	3951
322	-0.87	-194.6	15.4	-7.2	48	329	0.00	2.30	0.00	0.000	6	0.000	0.029	2729	1961	3951
399	-0.87	-194.6	20.0	-6.1	61	405	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1962	3951
474	-0.87	-194.6	24.5	-6.4	74	481	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1962	3951
551	-0.87	-194.6	29.1	-5.9	87	558	0.00	2.53	0.00	0.000	4	0.000	0.070	2729	555	3952
611	-0.87	-194.6	33.1	-7.0	99	617	0.00	2.28	0.00	0.000	6	0.000	0.031	2730	1947	3952
690	-0.87	-194.6	38.2	-6.5	112	696	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1947	3952
767	-0.87	-194.6	43.0	-6.4	125	772	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	1947	3952
909	-0.87	-194.6	51.9	-6.5	150	916	0.00	2.50	0.00	0.000	4	0.000	0.072	2729	560	3952
968	-0.87	-194.6	56.1	-7.3	162	976	0.00	2.28	0.00	0.000	6	0.000	0.033	2730	1946	3952
1115	-0.87	-194.6	65.0	-6.1	187	1121	0.00	2.47	0.00	0.000	4	0.000	0.077	2729	556	3952
1152	-0.87	-194.6	67.6	-6.5	194	1159	0.00	2.30	0.00	0.000	6	0.000	0.033	2729	1952	3952
1298	-0.87	-194.6	76.2	-6.1	219	1303	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1952	3952
1440	-0.87	-194.6	84.8	-6.1	244	1450	0.00	2.53	0.00	0.000	4	0.000	0.074	2730	556	3951
1485	-0.87	-194.6	87.6	-6.1	252	1493	0.00	2.30	0.00	0.000	6	0.000	0.034	2729	1952	3951
1632	-0.87	-194.6	96.4	-6.0	277	1637	0.00	0.00	0.00	0.000	6	0.000	0.000	2730	1952	3951
1731	end dive: BOTTOM_OBSTACLE_DETECTED
state	1731	begin apogee
1743	-0.31	0.0	102.4	6.0	295	1892	0.52	0.00	143.07	0.840	6	0.074	0.000	2847	1951	3209
1893	end apogee: CONTROL_FINISHED_OK
state	1893	begin climb
1899	0.87	194.6	106.4	0.0	320	2063	1.15	2.47	155.38	0.795	4	0.060	0.044	3109	3391	2415
2111	0.87	194.6	93.8	7.2	355	2117	0.00	2.35	0.00	0.000	6	0.000	0.038	3109	2004	2413
2254	0.87	194.6	82.7	7.7	380	2262	0.00	2.58	0.00	0.000	4	0.000	0.079	3109	596	2410
2294	0.87	194.6	79.4	8.7	387	2300	0.00	2.30	0.00	0.000	6	0.000	0.032	3109	1999	2411
2437	0.87	194.6	68.2	7.5	412	2444	0.00	2.38	0.00	0.000	4	0.000	0.044	3109	3386	2410
2469	0.87	194.6	65.8	7.7	417	2475	0.00	2.35	0.00	0.000	6	0.000	0.038	3109	1993	2410
2613	0.87	194.6	54.5	7.7	442	2621	0.00	2.53	0.00	0.000	4	0.000	0.076	3108	600	2410
2656	0.87	194.6	51.1	8.8	450	2662	0.00	2.33	0.00	0.000	6	0.000	0.031	3109	2004	2410
2803	0.88	200.6	40.5	7.0	475	2815	0.00	0.00	5.53	0.624	6	0.000	0.000	3109	2007	2392
2886	0.88	200.6	34.3	7.5	489	2893	0.00	2.53	0.00	0.000	4	0.000	0.069	3109	602	2391
2908	0.88	200.6	32.6	7.3	492	2915	0.00	2.30	0.00	0.000	6	0.000	0.031	3109	1993	2390
2985	0.89	211.1	27.0	6.9	505	2999	0.00	0.00	10.30	0.729	6	0.000	0.000	3109	1996	2349
3070	0.90	218.5	20.8	7.0	519	3084	0.00	0.00	7.88	0.685	6	0.000	0.000	3109	1996	2319
3154	0.92	228.6	14.8	6.9	533	3168	0.00	0.00	9.85	0.713	6	0.000	0.000	3109	1996	2278
3240	0.94	246.7	8.8	6.7	547	3261	0.00	2.55	16.23	0.746	4	0.000	0.068	3109	598	2203
3511	1.35	579.3	4.3	-1.2	607	3566	0.38	2.30	48.72	0.757	2	0.040	0.030	3220	2009	1836
3567	end climb: SURFACE_DEPTH_REACHED
state	3567	begin surface coast
3674	end surface coast: CONTROL_FINISHED_OK
state	3674	begin surface