Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 24 ESCAPE_HEADING 180 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3825 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 1987 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1987 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 350 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 150 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 175 CALL_TRIES 5 VBD_MAX 3936 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2917 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 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

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 3 COMPASS_DEVICE 33

D_OFFGRID 500 T_GPS_CHARGE -106551.45 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 0 RAFOS_DEVICE -1

MAX_BUOY 250 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 409 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2600 PRESSURE_YINT -7.1530929 SEABIRD_T_G 0.00439469

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163939 SEABIRD_T_H 0.00064900791

MASS 51956 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5454905e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5957725e-06

FERRY_MAX 0 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.918622

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1128848

HD_A 0.0038360001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0018190074

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019276177

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 500 PITCH_GAIN 13 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 450 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163939 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1530929 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

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 150

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -106551.45

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 175

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 117 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3825 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2600 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1987 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1987 MASS 51956 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 37 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 24 SEABIRD_C_G -9.918622 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1128848 VBD_MAX 3936

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00019276177 VBD_MIN 746

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 XPDR_DEVICE -1

DIVE 10 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 121925,2152.069,-15941.378,42,1.5,42,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 1000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.051,-0.322

_XMS_TOUTs 0 KALMAN_X -2067.0,-297.8,33.2,7175.4,-565.0

_SM_DEPTHo 1.13 KALMAN_Y 520.7,169.3,-81.0,-7330.1,205.3

_SM_ANGLEo -55.9 MHEAD_RNG_PITCHd_Wd 161.1,3076,-13.9,-10.000

GPS2 122758,2152.080,-15941.493,11,2.5,30,9.8 D_GRID 450

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.4,1.022912 MM_CLLLayer 0.03

SM_CCo 9449,0.00,0.000,0,0,1274,402.78 MM_CfgFile 0.30

SM_GC 1.25,11.23,0.00,0.00,0.033,0.000,0.000,408,1981,1274,-10.04,-0.17,402.78 _24V_AH 23.8,7.568

IRIDIUM_FIX 2145.77,-15955.46,241098,090949 _10V_AH 10.0,3.272

TT8_MAMPS 0.18408 DATA_FILE_SIZE 28343,891

HUMID 1952 CAP_FILE_SIZE 89523,0

INTERNAL_PRESSURE 7.53935 CFSIZE 260165632,255971328

TCM_TEMP 24.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 300709,150722,2150.897,-15942.002,10,2.6,29,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 195 121.26 SBE_CT 616 24 352.07

Roll_motor 65 77 121.27 nil 0 0 0.00

VBD_pump_during_apogee 552 889 11706.78 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 75.12 nil 0 0 0.00

Iridium_during_connect 27 160 104.63 GUMSTIX 249 1000 5933.34

Iridium_during_xfer 295 223 1567.78

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 64 1000 1536.74

GPS 31 50 15.53

TT8 1615 18 290.86

LPSleep 5601 0 21.84

TT8_Active 607 18 109.33

TT8_Sampling 1543 38 586.56

TT8_CF8 596 44 262.50

TT8_Kalman 33 80 26.67

Analog_circuits 1425 12 171.11

GPS_charging 0 0 0.00

Compass 1480 8 118.45

RAFOS 0 0 0.00

Transponder 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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.37 -243.3 0.0 0.0 0 104 0.00 0.00 -85.18 0.000 2 0.000 0.000 406 1977 3186

107 -1.37 -243.3 3.0 -5.2 14 141 11.82 2.55 -13.20 0.000 4 0.196 0.072 2294 581 3912

315 -1.37 -243.3 36.1 -12.5 39 320 0.00 2.40 0.00 0.000 6 0.000 0.032 2294 1996 3914

513 -1.37 -243.3 63.3 -13.5 57 517 0.00 2.55 0.00 0.000 4 0.000 0.057 2295 584 3914

608 -1.37 -243.3 76.7 -13.8 65 613 0.00 2.38 0.00 0.000 6 0.000 0.031 2295 1989 3915

933 -1.37 -243.3 113.8 -11.4 95 934 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1993 3916

1252 -1.37 -243.3 149.4 -10.0 125 1253 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1993 3918

1570 -1.37 -243.3 184.8 -11.0 155 1571 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1993 3919

1889 -1.37 -243.3 219.8 -10.3 185 1890 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1993 3919

2208 -1.37 -243.3 249.0 -8.4 215 2212 0.00 2.58 0.00 0.000 4 0.000 0.065 2294 578 3919

2240 -1.37 -243.3 251.8 -8.3 217 2247 0.00 2.42 0.00 0.000 6 0.000 0.037 2294 1996 3919

2567 -1.37 -243.3 279.1 -9.3 248 2568 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1996 3919

2884 -1.37 -243.3 306.4 -8.4 278 2885 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1996 3918

3203 -1.37 -243.3 333.4 -8.3 308 3204 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1996 3916

3521 -1.37 -243.3 359.6 -8.3 338 3525 0.00 2.62 0.00 0.000 4 0.000 0.071 2295 580 3913

3565 -1.37 -243.3 363.8 -9.0 341 3572 0.00 2.45 0.00 0.000 6 0.000 0.041 2294 1994 3913

3891 -1.37 -243.3 393.7 -9.3 372 3892 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1993 3911

4208 -1.37 -243.3 422.1 -8.8 402 4210 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1994 3908

4527 -1.37 -243.3 449.4 -8.4 432 4528 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1994 3906

4535 end dive: TARGET_DEPTH_EXCEEDED

state 4535 begin apogee

4540 -0.38 0.0 450.2 8.4 433 4752 1.05 0.00 206.77 0.890 6 0.090 0.000 2512 1994 2917

4753 end apogee: CONTROL_FINISHED_OK

state 4753 begin climb

4756 1.37 243.3 459.5 0.0 454 4977 1.77 2.67 209.82 0.855 4 0.058 0.074 2901 3386 1926

5084 1.37 243.3 436.2 11.2 483 5091 0.00 2.53 0.00 0.000 6 0.000 0.046 2901 1985 1918

5410 1.37 243.3 402.7 10.2 514 5415 0.00 2.62 0.00 0.000 4 0.000 0.070 2901 3383 1915

5465 1.37 243.3 396.7 10.3 518 5472 0.00 2.50 0.00 0.000 6 0.000 0.047 2901 1986 1914

5792 1.39 260.4 366.7 9.5 549 5813 0.00 0.00 14.62 0.795 6 0.000 0.000 2901 1986 1855

6133 1.39 260.4 331.3 10.1 581 6138 0.00 2.60 0.00 0.000 4 0.000 0.067 2901 3384 1851

6195 1.39 260.4 324.8 10.5 586 6200 0.00 2.50 0.00 0.000 6 0.000 0.046 2901 1979 1851

6523 1.42 283.8 292.7 9.4 616 6550 0.00 2.67 20.92 0.796 4 0.000 0.064 2901 3381 1759

6628 1.42 283.8 281.2 10.9 625 6635 0.00 2.50 0.00 0.000 6 0.000 0.044 2901 1977 1756

6955 1.42 283.8 247.1 10.3 656 6959 0.00 2.65 0.00 0.000 4 0.000 0.077 2901 572 1754

6987 1.42 283.8 243.2 10.9 658 6994 0.00 2.47 0.00 0.000 6 0.000 0.041 2901 1988 1753

7314 1.42 283.8 209.1 10.5 689 7318 0.00 2.55 0.00 0.000 4 0.000 0.064 2900 3384 1752

7482 1.42 283.8 191.4 10.2 703 7489 0.00 2.47 0.00 0.000 6 0.000 0.041 2901 1974 1751

7808 1.42 283.8 159.8 10.3 734 7809 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1974 1751

8126 1.48 330.7 132.4 8.7 764 8171 0.00 2.65 40.08 0.677 4 0.000 0.055 2901 3381 1568

8233 1.48 330.7 122.2 10.3 773 8240 0.00 2.45 0.00 0.000 6 0.000 0.038 2901 1980 1565

8559 1.48 330.7 87.4 10.7 804 8560 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1980 1562

8877 1.56 396.1 55.3 8.2 834 8938 0.17 2.60 55.28 0.594 4 0.039 0.064 2959 585 1302

9019 1.56 396.1 39.8 12.2 846 9024 0.00 2.42 0.00 0.000 6 0.000 0.035 2959 1995 1299

9217 1.56 401.5 18.0 9.8 865 9231 0.00 2.53 5.35 0.437 4 0.000 0.057 2960 3385 1280

9299 1.56 401.5 8.4 12.0 879 9306 0.00 2.42 0.00 0.000 6 0.000 0.035 2959 1985 1280

9349 end climb: SURFACE_DEPTH_REACHED

state 9349 begin surface coast

9368 end surface coast: CONTROL_FINISHED_OK

state 9368 begin surface

ID	117	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	24	ESCAPE_HEADING	180	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3825	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	1987	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1987	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	350	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	150	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	175	CALL_TRIES	5	VBD_MAX	3936	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2917	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	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
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	3	COMPASS_DEVICE	33
D_OFFGRID	500	T_GPS_CHARGE	-106551.45	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	0	RAFOS_DEVICE	-1
MAX_BUOY	250	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	409	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2600	PRESSURE_YINT	-7.1530929	SEABIRD_T_G	0.00439469
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163939	SEABIRD_T_H	0.00064900791
MASS	51956	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5454905e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5957725e-06
FERRY_MAX	0	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.918622
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1128848
HD_A	0.0038360001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0018190074
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019276177
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	121925,2152.069,-15941.378,42,1.5,42,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	1000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.051,-0.322
_XMS_TOUTs	0	KALMAN_X	-2067.0,-297.8,33.2,7175.4,-565.0
_SM_DEPTHo	1.13	KALMAN_Y	520.7,169.3,-81.0,-7330.1,205.3
_SM_ANGLEo	-55.9	MHEAD_RNG_PITCHd_Wd	161.1,3076,-13.9,-10.000
GPS2	122758,2152.080,-15941.493,11,2.5,30,9.8	D_GRID	450
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.4,1.022912	MM_CLLLayer	0.03
SM_CCo	9449,0.00,0.000,0,0,1274,402.78	MM_CfgFile	0.30
SM_GC	1.25,11.23,0.00,0.00,0.033,0.000,0.000,408,1981,1274,-10.04,-0.17,402.78	_24V_AH	23.8,7.568
IRIDIUM_FIX	2145.77,-15955.46,241098,090949	_10V_AH	10.0,3.272
TT8_MAMPS	0.18408	DATA_FILE_SIZE	28343,891
HUMID	1952	CAP_FILE_SIZE	89523,0
INTERNAL_PRESSURE	7.53935	CFSIZE	260165632,255971328
TCM_TEMP	24.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	300709,150722,2150.897,-15942.002,10,2.6,29,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	195	121.26	SBE_CT	616	24	352.07
Roll_motor	65	77	121.27	nil	0	0	0.00
VBD_pump_during_apogee	552	889	11706.78	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	75.12	nil	0	0	0.00
Iridium_during_connect	27	160	104.63	GUMSTIX	249	1000	5933.34
Iridium_during_xfer	295	223	1567.78
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	64	1000	1536.74
GPS	31	50	15.53
TT8	1615	18	290.86
LPSleep	5601	0	21.84
TT8_Active	607	18	109.33
TT8_Sampling	1543	38	586.56
TT8_CF8	596	44	262.50
TT8_Kalman	33	80	26.67
Analog_circuits	1425	12	171.11
GPS_charging	0	0	0.00
Compass	1480	8	118.45
RAFOS	0	0	0.00
Transponder	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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.37	-243.3	0.0	0.0	0	104	0.00	0.00	-85.18	0.000	2	0.000	0.000	406	1977	3186
107	-1.37	-243.3	3.0	-5.2	14	141	11.82	2.55	-13.20	0.000	4	0.196	0.072	2294	581	3912
315	-1.37	-243.3	36.1	-12.5	39	320	0.00	2.40	0.00	0.000	6	0.000	0.032	2294	1996	3914
513	-1.37	-243.3	63.3	-13.5	57	517	0.00	2.55	0.00	0.000	4	0.000	0.057	2295	584	3914
608	-1.37	-243.3	76.7	-13.8	65	613	0.00	2.38	0.00	0.000	6	0.000	0.031	2295	1989	3915
933	-1.37	-243.3	113.8	-11.4	95	934	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1993	3916
1252	-1.37	-243.3	149.4	-10.0	125	1253	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1993	3918
1570	-1.37	-243.3	184.8	-11.0	155	1571	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1993	3919
1889	-1.37	-243.3	219.8	-10.3	185	1890	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1993	3919
2208	-1.37	-243.3	249.0	-8.4	215	2212	0.00	2.58	0.00	0.000	4	0.000	0.065	2294	578	3919
2240	-1.37	-243.3	251.8	-8.3	217	2247	0.00	2.42	0.00	0.000	6	0.000	0.037	2294	1996	3919
2567	-1.37	-243.3	279.1	-9.3	248	2568	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1996	3919
2884	-1.37	-243.3	306.4	-8.4	278	2885	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1996	3918
3203	-1.37	-243.3	333.4	-8.3	308	3204	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1996	3916
3521	-1.37	-243.3	359.6	-8.3	338	3525	0.00	2.62	0.00	0.000	4	0.000	0.071	2295	580	3913
3565	-1.37	-243.3	363.8	-9.0	341	3572	0.00	2.45	0.00	0.000	6	0.000	0.041	2294	1994	3913
3891	-1.37	-243.3	393.7	-9.3	372	3892	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1993	3911
4208	-1.37	-243.3	422.1	-8.8	402	4210	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1994	3908
4527	-1.37	-243.3	449.4	-8.4	432	4528	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1994	3906
4535	end dive: TARGET_DEPTH_EXCEEDED
state	4535	begin apogee
4540	-0.38	0.0	450.2	8.4	433	4752	1.05	0.00	206.77	0.890	6	0.090	0.000	2512	1994	2917
4753	end apogee: CONTROL_FINISHED_OK
state	4753	begin climb
4756	1.37	243.3	459.5	0.0	454	4977	1.77	2.67	209.82	0.855	4	0.058	0.074	2901	3386	1926
5084	1.37	243.3	436.2	11.2	483	5091	0.00	2.53	0.00	0.000	6	0.000	0.046	2901	1985	1918
5410	1.37	243.3	402.7	10.2	514	5415	0.00	2.62	0.00	0.000	4	0.000	0.070	2901	3383	1915
5465	1.37	243.3	396.7	10.3	518	5472	0.00	2.50	0.00	0.000	6	0.000	0.047	2901	1986	1914
5792	1.39	260.4	366.7	9.5	549	5813	0.00	0.00	14.62	0.795	6	0.000	0.000	2901	1986	1855
6133	1.39	260.4	331.3	10.1	581	6138	0.00	2.60	0.00	0.000	4	0.000	0.067	2901	3384	1851
6195	1.39	260.4	324.8	10.5	586	6200	0.00	2.50	0.00	0.000	6	0.000	0.046	2901	1979	1851
6523	1.42	283.8	292.7	9.4	616	6550	0.00	2.67	20.92	0.796	4	0.000	0.064	2901	3381	1759
6628	1.42	283.8	281.2	10.9	625	6635	0.00	2.50	0.00	0.000	6	0.000	0.044	2901	1977	1756
6955	1.42	283.8	247.1	10.3	656	6959	0.00	2.65	0.00	0.000	4	0.000	0.077	2901	572	1754
6987	1.42	283.8	243.2	10.9	658	6994	0.00	2.47	0.00	0.000	6	0.000	0.041	2901	1988	1753
7314	1.42	283.8	209.1	10.5	689	7318	0.00	2.55	0.00	0.000	4	0.000	0.064	2900	3384	1752
7482	1.42	283.8	191.4	10.2	703	7489	0.00	2.47	0.00	0.000	6	0.000	0.041	2901	1974	1751
7808	1.42	283.8	159.8	10.3	734	7809	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1974	1751
8126	1.48	330.7	132.4	8.7	764	8171	0.00	2.65	40.08	0.677	4	0.000	0.055	2901	3381	1568
8233	1.48	330.7	122.2	10.3	773	8240	0.00	2.45	0.00	0.000	6	0.000	0.038	2901	1980	1565
8559	1.48	330.7	87.4	10.7	804	8560	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1980	1562
8877	1.56	396.1	55.3	8.2	834	8938	0.17	2.60	55.28	0.594	4	0.039	0.064	2959	585	1302
9019	1.56	396.1	39.8	12.2	846	9024	0.00	2.42	0.00	0.000	6	0.000	0.035	2959	1995	1299
9217	1.56	401.5	18.0	9.8	865	9231	0.00	2.53	5.35	0.437	4	0.000	0.057	2960	3385	1280
9299	1.56	401.5	8.4	12.0	879	9306	0.00	2.42	0.00	0.000	6	0.000	0.035	2959	1985	1280
9349	end climb: SURFACE_DEPTH_REACHED
state	9349	begin surface coast
9368	end surface coast: CONTROL_FINISHED_OK
state	9368	begin surface