Glider dive log

PN07 DabobBay Sep07 * SG023 * Dive index * Mission links * Dive 240 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 HD_B 0.0123087 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 3.5261501e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 240 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 208 ALTIM_PING_DEPTH 50

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1750 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 120 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 580 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

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 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -28750.107 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 370 AH0_24V 91.800003 SEABIRD_T_G 0.0043036696

SPEED_FACTOR 1 PITCH_MAX 3518 AH0_10V 61.200001 SEABIRD_T_H 0.00062677584

RHO 1.023 C_PITCH 2610 PRESSURE_YINT -24.5345 SEABIRD_T_I 2.2664151e-05

MASS 51702 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.2667414e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.310682

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1615626

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017275931

HD_A 0.0030006149 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00021877716

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3518 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 370 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 95 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -24.5345 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 15 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0030006149 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0123087 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 3.5261501e-06 RHO 1.023 T_GPS_CHARGE -28750.107

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 120

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 23 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2610 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1750 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51702 R_PORT_OVSHOOT 25 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.310682 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1615626 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0017275931 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021877716 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043036696 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062677584 VBD_MIN 580

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2664151e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 240 PHONE_DEVICE 48 SEABIRD_T_J 2.2667414e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 230521,4739.573,-12253.252,9,1.8,9,18.3 TGT_NAME JL0N

_CALLS 2 TGT_LATLONG 4740.900,-12250.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.226,0.152

_SM_DEPTHo 0.90 KALMAN_X 12239.6,279.5,1.6,-12951.5,-224.4

_SM_ANGLEo -71.7 KALMAN_Y 6140.6,-3.5,160.1,-6672.4,-105.7

GPS2 231427,4739.578,-12253.295,15,1.8,15,18.3 MHEAD_RNG_PITCHd_Wd 37.8,3959,-8.0,-7.037

SPEED_LIMITS 0.263,0.273 D_GRID 116

Post-dive calculations and measurements:

FINISH 0.1,1.020972 ALTIM_BOTTOM_PING 80.3,35.6

SM_CCo 4773,12.70,0.699,0,0,2056,350.04 _24V_AH 24.0,19.563

SM_GC 0.90,0.00,0.00,12.70,0.000,0.000,0.699,368,2119,2056,-10.31,0.54,350.04 _10V_AH 10.2,7.308

IRIDIUM_FIX 4722.92,-12253.53,290907,030349 DATA_FILE_SIZE 12708,441

TT8_MAMPS 0.026845 CFSIZE 260034560,251453440

HUMID 2172 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 290907,003656,4739.665,-12252.873,36,1.5,37,18.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 146 84.91 SBE_CT 297 24 171.13

Roll_motor 90 63 138.12 nil 0 0 0.00

VBD_pump_during_apogee 320 747 5746.44 nil 0 0 0.00

VBD_pump_during_surface 12 698 212.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 186.15 nil 0 0 0.00

Iridium_during_connect 78 160 300.01 ARS 0 0 0.00

Iridium_during_xfer 230 223 1235.56

Transponder_ping 1 420 17.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 93 16.28

TT8 818 19 165.27

LPSleep 2775 2 62.01

TT8_Active 452 19 91.37

TT8_Sampling 770 39 312.86

TT8_CF8 563 45 263.31

TT8_Kalman 33 81 27.80

Analog_circuits 926 12 113.40

GPS_charging 0 0 0.00

Compass 750 8 61.21

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.61 -97.8 0.0 0.0 0 90 0.00 0.00 -65.55 0.000 2 0.000 0.000 367 2254 3406

94 -0.61 -97.8 2.1 -3.4 11 131 11.73 3.20 -16.92 0.000 4 0.146 0.054 2471 692 3884

172 -0.61 -97.8 5.3 -5.7 23 178 0.00 2.80 0.00 0.000 6 0.000 0.030 2471 2101 3886

244 -0.61 -97.8 7.6 -2.8 34 250 0.00 2.45 0.00 0.000 4 0.000 0.049 2471 3509 3886

344 -0.61 -97.8 10.5 -3.1 49 350 0.00 2.40 0.00 0.000 6 0.000 0.032 2471 2086 3887

416 -0.61 -97.8 12.6 -2.7 60 422 0.00 2.85 0.00 0.000 4 0.000 0.050 2471 694 3887

475 -0.61 -97.8 14.1 -2.6 69 481 0.00 2.80 0.00 0.000 6 0.000 0.028 2471 2112 3887

548 -0.61 -97.8 15.7 -2.4 80 554 0.00 2.92 0.00 0.000 4 0.000 0.048 2471 687 3887

587 -0.61 -97.8 16.9 -3.0 86 593 0.00 2.80 0.00 0.000 6 0.000 0.029 2469 2101 3887

660 -0.61 -97.8 18.7 -2.5 97 665 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2101 3888

737 -0.61 -97.8 20.7 -2.5 107 738 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2101 3887

929 -0.61 -97.8 26.1 -2.9 122 934 0.00 2.90 0.00 0.000 4 0.000 0.049 2471 697 3888

988 -0.61 -97.8 28.2 -3.7 126 993 0.00 2.80 0.00 0.000 6 0.000 0.031 2471 2106 3888

1184 -0.61 -97.8 34.9 -3.6 141 1185 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2105 3888

1376 -0.61 -97.8 41.5 -3.5 156 1380 0.00 2.92 0.00 0.000 4 0.000 0.049 2471 688 3888

1400 -0.61 -97.8 42.5 -3.4 157 1408 0.00 2.83 0.00 0.000 6 0.000 0.030 2471 2099 3888

1597 -0.61 -97.8 48.6 -3.3 173 1601 0.00 2.90 0.00 0.000 4 0.000 0.050 2471 694 3888

1656 -0.61 -97.8 50.8 -3.8 177 1660 0.00 2.80 0.00 0.000 6 0.000 0.031 2471 2107 3888

1851 -0.61 -97.8 57.2 -3.0 192 1852 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2106 3888

2042 -0.61 -97.8 63.0 -2.9 207 2047 0.00 2.92 0.00 0.000 4 0.000 0.050 2471 688 3888

2081 -0.61 -97.8 64.2 -2.9 209 2088 0.00 2.83 0.00 0.000 6 0.000 0.031 2471 2113 3887

2277 -0.61 -97.8 69.8 -2.5 225 2282 0.00 2.90 0.00 0.000 4 0.000 0.054 2471 694 3888

2329 -0.61 -97.8 71.7 -3.3 229 2334 0.00 2.80 0.00 0.000 6 0.000 0.031 2471 2108 3887

2525 -0.61 -97.8 76.9 -2.5 244 2529 0.00 2.42 0.00 0.000 4 0.000 0.053 2471 3503 3887

2584 -0.61 -97.8 78.4 -2.4 248 2588 0.00 2.38 0.00 0.000 6 0.000 0.035 2471 2096 3887

2780 -0.61 -97.8 83.5 -2.7 263 2784 0.00 2.88 0.00 0.000 4 0.000 0.053 2471 689 3887

2804 -0.61 -97.8 84.2 -2.5 264 2811 0.00 2.83 0.00 0.000 6 0.000 0.031 2471 2101 3887

3001 -0.61 -97.8 89.4 -2.8 280 3002 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2100 3886

3189 end dive: TARGET_DEPTH_EXCEEDED

state 3190 begin apogee

3195 -0.31 0.0 95.4 3.0 295 3275 0.35 0.00 75.03 0.748 6 0.084 0.000 2541 1744 3484

3276 end apogee: CONTROL_FINISHED_OK

state 3276 begin climb

3278 0.61 97.8 96.1 0.0 302 3363 0.93 2.72 73.43 0.732 4 0.070 0.044 2739 3157 3084

3394 0.71 197.9 90.8 5.2 311 3476 0.10 2.62 74.88 0.711 6 0.044 0.038 2771 1750 2676

3664 0.74 218.2 73.7 6.7 333 3688 0.00 2.92 15.00 0.720 4 0.000 0.062 2771 334 2593

3706 0.74 218.2 70.5 7.2 336 3714 0.00 2.70 0.00 0.000 6 0.000 0.028 2771 1758 2593

3903 0.75 229.4 57.2 6.8 352 3917 0.00 2.95 8.10 0.733 4 0.000 0.061 2771 331 2547

3956 0.75 229.4 53.4 7.5 356 3960 0.00 2.67 0.00 0.000 6 0.000 0.028 2770 1762 2547

4151 0.81 285.4 40.9 6.0 371 4201 0.00 2.92 41.53 0.693 4 0.000 0.061 2770 339 2319

4240 0.84 309.4 35.4 6.6 378 4266 0.10 2.65 17.77 0.694 6 0.074 0.028 2792 1758 2221

4453 0.84 309.4 19.7 7.3 395 4460 0.00 2.85 0.00 0.000 4 0.000 0.064 2792 344 2221

4512 0.84 309.4 15.2 7.6 404 4519 0.00 2.62 0.00 0.000 6 0.000 0.028 2792 1746 2221

4584 0.86 329.4 10.2 6.7 415 4603 0.00 0.00 14.45 0.689 6 0.000 0.000 2792 1748 2140

4668 end climb: SURFACE_DEPTH_REACHED

state 4668 begin surface coast

4753 end surface coast: CONTROL_FINISHED_OK

state 4753 begin surface

ID	23	HD_B	0.0123087	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	3.5261501e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	240	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	208	ALTIM_PING_DEPTH	50
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1750	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	120	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	580	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
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	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-28750.107	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	370	AH0_24V	91.800003	SEABIRD_T_G	0.0043036696
SPEED_FACTOR	1	PITCH_MAX	3518	AH0_10V	61.200001	SEABIRD_T_H	0.00062677584
RHO	1.023	C_PITCH	2610	PRESSURE_YINT	-24.5345	SEABIRD_T_I	2.2664151e-05
MASS	51702	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.2667414e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.310682
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1615626
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017275931
HD_A	0.0030006149	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00021877716

GPS1	230521,4739.573,-12253.252,9,1.8,9,18.3	TGT_NAME	JL0N
_CALLS	2	TGT_LATLONG	4740.900,-12250.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.226,0.152
_SM_DEPTHo	0.90	KALMAN_X	12239.6,279.5,1.6,-12951.5,-224.4
_SM_ANGLEo	-71.7	KALMAN_Y	6140.6,-3.5,160.1,-6672.4,-105.7
GPS2	231427,4739.578,-12253.295,15,1.8,15,18.3	MHEAD_RNG_PITCHd_Wd	37.8,3959,-8.0,-7.037
SPEED_LIMITS	0.263,0.273	D_GRID	116

FINISH	0.1,1.020972	ALTIM_BOTTOM_PING	80.3,35.6
SM_CCo	4773,12.70,0.699,0,0,2056,350.04	_24V_AH	24.0,19.563
SM_GC	0.90,0.00,0.00,12.70,0.000,0.000,0.699,368,2119,2056,-10.31,0.54,350.04	_10V_AH	10.2,7.308
IRIDIUM_FIX	4722.92,-12253.53,290907,030349	DATA_FILE_SIZE	12708,441
TT8_MAMPS	0.026845	CFSIZE	260034560,251453440
HUMID	2172	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	290907,003656,4739.665,-12252.873,36,1.5,37,18.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	146	84.91	SBE_CT	297	24	171.13
Roll_motor	90	63	138.12	nil	0	0	0.00
VBD_pump_during_apogee	320	747	5746.44	nil	0	0	0.00
VBD_pump_during_surface	12	698	212.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	186.15	nil	0	0	0.00
Iridium_during_connect	78	160	300.01	ARS	0	0	0.00
Iridium_during_xfer	230	223	1235.56
Transponder_ping	1	420	17.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	93	16.28
TT8	818	19	165.27
LPSleep	2775	2	62.01
TT8_Active	452	19	91.37
TT8_Sampling	770	39	312.86
TT8_CF8	563	45	263.31
TT8_Kalman	33	81	27.80
Analog_circuits	926	12	113.40
GPS_charging	0	0	0.00
Compass	750	8	61.21
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.61	-97.8	0.0	0.0	0	90	0.00	0.00	-65.55	0.000	2	0.000	0.000	367	2254	3406
94	-0.61	-97.8	2.1	-3.4	11	131	11.73	3.20	-16.92	0.000	4	0.146	0.054	2471	692	3884
172	-0.61	-97.8	5.3	-5.7	23	178	0.00	2.80	0.00	0.000	6	0.000	0.030	2471	2101	3886
244	-0.61	-97.8	7.6	-2.8	34	250	0.00	2.45	0.00	0.000	4	0.000	0.049	2471	3509	3886
344	-0.61	-97.8	10.5	-3.1	49	350	0.00	2.40	0.00	0.000	6	0.000	0.032	2471	2086	3887
416	-0.61	-97.8	12.6	-2.7	60	422	0.00	2.85	0.00	0.000	4	0.000	0.050	2471	694	3887
475	-0.61	-97.8	14.1	-2.6	69	481	0.00	2.80	0.00	0.000	6	0.000	0.028	2471	2112	3887
548	-0.61	-97.8	15.7	-2.4	80	554	0.00	2.92	0.00	0.000	4	0.000	0.048	2471	687	3887
587	-0.61	-97.8	16.9	-3.0	86	593	0.00	2.80	0.00	0.000	6	0.000	0.029	2469	2101	3887
660	-0.61	-97.8	18.7	-2.5	97	665	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2101	3888
737	-0.61	-97.8	20.7	-2.5	107	738	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2101	3887
929	-0.61	-97.8	26.1	-2.9	122	934	0.00	2.90	0.00	0.000	4	0.000	0.049	2471	697	3888
988	-0.61	-97.8	28.2	-3.7	126	993	0.00	2.80	0.00	0.000	6	0.000	0.031	2471	2106	3888
1184	-0.61	-97.8	34.9	-3.6	141	1185	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2105	3888
1376	-0.61	-97.8	41.5	-3.5	156	1380	0.00	2.92	0.00	0.000	4	0.000	0.049	2471	688	3888
1400	-0.61	-97.8	42.5	-3.4	157	1408	0.00	2.83	0.00	0.000	6	0.000	0.030	2471	2099	3888
1597	-0.61	-97.8	48.6	-3.3	173	1601	0.00	2.90	0.00	0.000	4	0.000	0.050	2471	694	3888
1656	-0.61	-97.8	50.8	-3.8	177	1660	0.00	2.80	0.00	0.000	6	0.000	0.031	2471	2107	3888
1851	-0.61	-97.8	57.2	-3.0	192	1852	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2106	3888
2042	-0.61	-97.8	63.0	-2.9	207	2047	0.00	2.92	0.00	0.000	4	0.000	0.050	2471	688	3888
2081	-0.61	-97.8	64.2	-2.9	209	2088	0.00	2.83	0.00	0.000	6	0.000	0.031	2471	2113	3887
2277	-0.61	-97.8	69.8	-2.5	225	2282	0.00	2.90	0.00	0.000	4	0.000	0.054	2471	694	3888
2329	-0.61	-97.8	71.7	-3.3	229	2334	0.00	2.80	0.00	0.000	6	0.000	0.031	2471	2108	3887
2525	-0.61	-97.8	76.9	-2.5	244	2529	0.00	2.42	0.00	0.000	4	0.000	0.053	2471	3503	3887
2584	-0.61	-97.8	78.4	-2.4	248	2588	0.00	2.38	0.00	0.000	6	0.000	0.035	2471	2096	3887
2780	-0.61	-97.8	83.5	-2.7	263	2784	0.00	2.88	0.00	0.000	4	0.000	0.053	2471	689	3887
2804	-0.61	-97.8	84.2	-2.5	264	2811	0.00	2.83	0.00	0.000	6	0.000	0.031	2471	2101	3887
3001	-0.61	-97.8	89.4	-2.8	280	3002	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2100	3886
3189	end dive: TARGET_DEPTH_EXCEEDED
state	3190	begin apogee
3195	-0.31	0.0	95.4	3.0	295	3275	0.35	0.00	75.03	0.748	6	0.084	0.000	2541	1744	3484
3276	end apogee: CONTROL_FINISHED_OK
state	3276	begin climb
3278	0.61	97.8	96.1	0.0	302	3363	0.93	2.72	73.43	0.732	4	0.070	0.044	2739	3157	3084
3394	0.71	197.9	90.8	5.2	311	3476	0.10	2.62	74.88	0.711	6	0.044	0.038	2771	1750	2676
3664	0.74	218.2	73.7	6.7	333	3688	0.00	2.92	15.00	0.720	4	0.000	0.062	2771	334	2593
3706	0.74	218.2	70.5	7.2	336	3714	0.00	2.70	0.00	0.000	6	0.000	0.028	2771	1758	2593
3903	0.75	229.4	57.2	6.8	352	3917	0.00	2.95	8.10	0.733	4	0.000	0.061	2771	331	2547
3956	0.75	229.4	53.4	7.5	356	3960	0.00	2.67	0.00	0.000	6	0.000	0.028	2770	1762	2547
4151	0.81	285.4	40.9	6.0	371	4201	0.00	2.92	41.53	0.693	4	0.000	0.061	2770	339	2319
4240	0.84	309.4	35.4	6.6	378	4266	0.10	2.65	17.77	0.694	6	0.074	0.028	2792	1758	2221
4453	0.84	309.4	19.7	7.3	395	4460	0.00	2.85	0.00	0.000	4	0.000	0.064	2792	344	2221
4512	0.84	309.4	15.2	7.6	404	4519	0.00	2.62	0.00	0.000	6	0.000	0.028	2792	1746	2221
4584	0.86	329.4	10.2	6.7	415	4603	0.00	0.00	14.45	0.689	6	0.000	0.000	2792	1748	2140
4668	end climb: SURFACE_DEPTH_REACHED
state	4668	begin surface coast
4753	end surface coast: CONTROL_FINISHED_OK
state	4753	begin surface