Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 113 * 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 113 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 1970 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1994 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 375 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 180 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 220 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 750 T_GPS_CHARGE -108700.6 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 45 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2542 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 375

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 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 660 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 45 RAFOS_DEVICE -1 T_DIVE 180

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 -108700.6

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 220

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 2542 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1994 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1970 MASS 51956 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 36 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 113 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 063756,2157.362,-15947.522,11,1.7,17,9.8 TGT_LATLONG 2154.033,-15942.617

_CALLS 1 TGT_RADIUS 500.000

_XMS_NAKs 4 KALMAN_CONTROL 0.269,-0.223

_XMS_TOUTs 0 KALMAN_X -173298.2,-1521.6,270.8,168781.9,-5139.3

_SM_DEPTHo 1.22 KALMAN_Y 78173.4,961.1,1.2,-75897.2,4038.6

_SM_ANGLEo -52.1 MHEAD_RNG_PITCHd_Wd 119.8,10753,-16.6,-12.222

GPS2 064706,2157.458,-15947.670,17,1.1,33,9.8 D_GRID 660

SPEED_LIMITS 0.122,0.350 MM_IGNORESAMPLERETURN 0.0

TGT_NAME 10N

Post-dive calculations and measurements:

FINISH 0.5,1.010583 MM_CLLLayer 0.03

SM_CCo 7558,0.00,0.000,0,0,742,533.53 MM_CfgFile 0.30

SM_GC 1.15,11.12,0.00,0.00,0.025,0.000,0.000,404,2002,742,-9.77,0.90,533.53 _24V_AH 23.8,25.423

IRIDIUM_FIX 2150.42,-15947.31,021198,040441 _10V_AH 10.1,11.199

TT8_MAMPS 0.059059 DATA_FILE_SIZE 22080,696

HUMID 2016 CAP_FILE_SIZE 117016,0

INTERNAL_PRESSURE 7.49052 CFSIZE 260165632,246706176

TCM_TEMP 24.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 080809,085458,2157.183,-15947.551,8,3.5,28,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 177 107.36 SBE_CT 483 24 276.25

Roll_motor 150 72 260.43 nil 0 0 0.00

VBD_pump_during_apogee 681 906 14696.05 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 25 103 63.51 nil 0 0 0.00

Iridium_during_connect 31 160 119.45 GUMSTIX 125 1000 2987.85

Iridium_during_xfer 320 223 1700.23

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 52 1000 1250.26

GPS 33 50 16.93

TT8 1373 18 249.67

LPSleep 3906 0 15.39

TT8_Active 787 18 143.20

TT8_Sampling 1361 38 522.40

TT8_CF8 678 44 301.62

TT8_Kalman 33 80 26.95

Analog_circuits 1644 12 199.28

GPS_charging 0 0 0.00

Compass 1295 8 104.69

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.58 -243.3 0.0 0.0 0 118 0.00 0.00 -96.72 0.000 2 0.000 0.000 404 1977 3280

121 -1.58 -243.3 3.9 -8.2 16 148 10.57 2.47 -10.60 0.000 4 0.178 0.060 2191 3362 3913

207 -1.58 -243.3 28.0 -22.2 27 211 0.00 2.40 0.00 0.000 6 0.000 0.034 2191 1965 3914

277 -1.58 -243.3 44.1 -23.0 33 281 0.00 2.50 0.00 0.000 4 0.000 0.050 2191 3368 3915

305 -1.58 -243.3 49.7 -20.0 35 309 0.00 2.40 0.00 0.000 6 0.000 0.032 2191 1966 3915

375 -1.58 -243.3 63.4 -20.9 41 376 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1966 3915

438 -1.58 -243.3 76.3 -19.9 47 443 0.00 2.50 0.00 0.000 4 0.000 0.057 2191 570 3915

515 -1.58 -243.3 90.3 -18.6 53 523 0.00 2.38 0.00 0.000 6 0.000 0.028 2191 1983 3916

586 -1.58 -243.3 103.5 -19.2 60 587 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1984 3916

650 -1.58 -243.3 115.6 -18.5 66 651 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1984 3916

713 -1.58 -243.3 127.5 -18.5 72 714 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 1984 3917

777 -1.58 -243.3 138.7 -17.6 78 778 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1984 3917

841 -1.58 -243.3 149.5 -16.5 84 845 0.00 2.45 0.00 0.000 4 0.000 0.051 2191 3366 3918

884 -1.58 -243.3 156.6 -15.4 87 891 0.00 2.40 0.00 0.000 6 0.000 0.033 2191 1963 3918

955 -1.58 -243.3 168.3 -17.3 94 959 0.00 2.53 0.00 0.000 4 0.000 0.060 2191 566 3918

1039 -1.58 -243.3 182.9 -16.8 101 1043 0.00 2.38 0.00 0.000 6 0.000 0.030 2191 1975 3919

1109 -1.58 -243.3 194.4 -16.6 107 1110 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1975 3919

1173 -1.58 -243.3 205.1 -16.8 113 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1976 3919

1236 -1.58 -243.3 215.8 -17.0 119 1240 0.00 2.55 0.00 0.000 4 0.000 0.058 2191 567 3918

1275 -1.58 -243.3 222.1 -15.8 122 1280 0.00 2.38 0.00 0.000 6 0.000 0.031 2191 1971 3919

1345 -1.58 -243.3 232.4 -14.6 128 1349 0.00 2.50 0.00 0.000 4 0.000 0.054 2191 3374 3919

1373 -1.58 -243.3 236.7 -15.7 130 1377 0.00 2.40 0.00 0.000 6 0.000 0.035 2191 1970 3919

1450 -1.58 -243.3 247.9 -14.7 137 1451 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1971 3919

1512 -1.58 -243.3 257.5 -15.0 143 1516 0.00 2.50 0.00 0.000 4 0.000 0.052 2191 3367 3920

1563 -1.58 -243.3 265.5 -15.0 147 1570 0.00 2.40 0.00 0.000 6 0.000 0.035 2191 1971 3919

1633 -1.58 -243.3 275.6 -14.4 154 1637 0.00 2.55 0.00 0.000 4 0.000 0.064 2191 573 3919

1654 -1.58 -243.3 278.8 -14.6 155 1661 0.00 2.38 0.00 0.000 6 0.000 0.033 2191 1967 3920

1725 -1.58 -243.3 288.2 -13.7 162 1727 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1967 3920

1788 -1.58 -243.3 296.7 -12.9 168 1789 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1967 3920

1851 -1.58 -243.3 305.4 -13.8 174 1856 0.00 2.53 0.00 0.000 4 0.000 0.058 2191 3370 3920

1891 -1.58 -243.3 310.9 -14.0 177 1896 0.00 2.42 0.00 0.000 6 0.000 0.039 2191 1973 3920

2089 -1.58 -243.3 337.6 -13.7 195 2090 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1973 3919

2280 -1.58 -243.3 363.0 -12.6 213 2284 0.00 2.60 0.00 0.000 4 0.000 0.069 2191 562 3919

2334 -1.58 -243.3 370.0 -12.5 217 2341 0.00 2.42 0.00 0.000 6 0.000 0.035 2191 1972 3918

2532 -1.58 -243.3 394.3 -11.8 236 2537 0.00 2.55 0.00 0.000 4 0.000 0.063 2191 3370 3916

2599 -1.58 -243.3 402.8 -13.3 241 2606 0.00 2.47 0.00 0.000 6 0.000 0.041 2191 1961 3916

2797 -1.58 -243.3 428.0 -12.4 260 2798 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 1960 3915

2988 -1.58 -243.3 451.9 -12.7 278 2992 0.00 2.58 0.00 0.000 4 0.000 0.063 2191 3367 3913

3020 -1.58 -243.3 456.0 -12.8 280 3027 0.00 2.47 0.00 0.000 6 0.000 0.042 2191 1962 3913

3218 -1.58 -243.3 478.1 -9.4 299 3219 0.00 0.00 0.00 0.000 6 0.000 0.000 2191 1961 3911

3374 end dive: NO_VERTICAL_VELOCITY

state 3375 begin apogee

3380 -0.38 0.0 478.0 0.0 314 3598 1.20 0.00 209.45 0.907 6 0.064 0.000 2453 1961 2917

3599 end apogee: CONTROL_FINISHED_OK

state 3599 begin climb

3602 1.58 243.3 477.7 0.0 336 3826 1.98 2.75 210.32 0.871 4 0.061 0.064 2886 3393 1925

3889 1.66 307.0 457.6 10.1 362 3957 0.00 2.50 57.38 0.844 6 0.000 0.044 2886 1994 1665

4149 1.72 355.1 431.8 10.6 386 4199 0.12 2.70 43.62 0.839 4 0.052 0.072 2923 585 1469

4232 1.72 355.1 421.1 14.2 393 4239 0.00 2.50 0.00 0.000 6 0.000 0.040 2923 1994 1466

4429 1.72 355.1 395.0 12.6 412 4434 0.00 2.60 0.00 0.000 4 0.000 0.066 2923 3394 1461

4481 1.73 370.0 388.9 11.7 416 4504 0.00 2.50 13.70 0.785 6 0.000 0.044 2923 1995 1407

4694 1.73 370.0 362.8 12.9 436 4699 0.00 2.65 0.00 0.000 4 0.000 0.073 2923 588 1404

4750 1.73 370.0 355.1 13.4 440 4757 0.00 2.47 0.00 0.000 6 0.000 0.040 2923 1994 1403

4948 1.75 380.9 329.9 11.9 459 4963 0.00 2.67 10.15 0.756 4 0.000 0.068 2923 588 1364

5004 1.75 380.9 322.6 13.8 464 5008 0.00 2.47 0.00 0.000 6 0.000 0.039 2923 1993 1363

5202 1.83 449.7 301.8 9.9 482 5271 0.00 2.70 63.72 0.820 4 0.000 0.064 2923 3401 1083

5295 1.87 477.7 291.9 11.3 490 5330 0.10 2.53 26.30 0.775 6 0.058 0.044 2954 1993 968

5392 1.87 477.7 279.2 13.7 499 5397 0.00 2.65 0.00 0.000 4 0.000 0.071 2954 585 964

5443 1.87 477.7 272.0 14.6 503 5448 0.00 2.47 0.00 0.000 6 0.000 0.038 2954 1996 963

5513 1.87 477.7 262.9 12.8 509 5514 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1997 962

5577 1.87 477.7 254.7 12.5 515 5578 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1996 960

5640 1.87 477.7 246.7 12.2 521 5641 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1997 960

5704 1.87 477.7 238.6 12.6 527 5705 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1997 960

5768 1.87 477.7 230.2 13.5 533 5769 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1997 959

5832 1.87 477.7 221.2 14.2 539 5833 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1998 959

5895 1.87 477.7 211.6 15.8 545 5899 0.00 2.62 0.00 0.000 4 0.000 0.065 2954 586 958

5950 1.87 477.7 202.1 17.7 549 5957 0.00 2.45 0.00 0.000 6 0.000 0.035 2954 2003 958

6020 1.87 477.7 191.0 16.0 556 6024 0.00 2.62 0.00 0.000 4 0.000 0.064 2954 585 957

6064 1.87 477.7 183.7 17.5 559 6071 0.00 2.45 0.00 0.000 6 0.000 0.035 2953 1994 957

6134 1.87 477.7 173.5 14.5 566 6135 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 1994 956

6197 1.87 477.7 165.0 13.0 572 6201 0.00 2.60 0.00 0.000 4 0.000 0.064 2954 589 956

6226 1.87 477.7 161.1 14.4 574 6230 0.00 2.45 0.00 0.000 6 0.000 0.034 2954 2006 956

6296 1.87 477.7 151.7 13.2 580 6300 0.00 2.53 0.00 0.000 4 0.000 0.060 2954 3392 956

6350 1.87 477.7 144.5 13.6 584 6357 0.00 2.47 0.00 0.000 6 0.000 0.038 2954 1979 955

6421 1.87 477.7 135.6 12.8 591 6425 0.00 2.55 0.00 0.000 4 0.000 0.062 2954 588 955

6453 1.87 477.7 131.0 13.8 593 6460 0.00 2.42 0.00 0.000 6 0.000 0.032 2954 2003 955

6524 1.87 477.7 121.9 13.2 600 6528 0.00 2.50 0.00 0.000 4 0.000 0.057 2954 3385 954

6552 1.87 477.7 117.8 14.5 602 6556 0.00 2.42 0.00 0.000 6 0.000 0.036 2954 1991 954

6621 1.87 477.7 108.4 13.5 608 6626 0.00 2.58 0.00 0.000 4 0.000 0.061 2954 585 954

6684 1.87 477.7 99.7 13.6 613 6688 0.00 2.40 0.00 0.000 6 0.000 0.031 2954 1994 954

6754 1.87 477.7 90.4 13.3 619 6755 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1994 954

6817 1.87 477.7 82.0 13.5 625 6821 0.00 2.55 0.00 0.000 4 0.000 0.058 2953 593 954

6901 1.87 477.7 70.9 13.1 632 6906 0.00 2.40 0.00 0.000 6 0.000 0.031 2954 1996 954

6971 1.87 477.7 62.0 12.7 638 6975 0.00 2.53 0.00 0.000 4 0.000 0.057 2954 3395 954

6999 1.87 477.7 58.7 13.1 640 7003 0.00 2.42 0.00 0.000 6 0.000 0.035 2953 1991 954

7069 1.92 521.7 50.0 10.7 646 7109 0.00 0.00 35.95 0.603 6 0.000 0.000 2954 1990 789

7173 1.99 576.5 38.8 10.4 656 7185 0.00 0.00 10.50 0.535 6 0.000 0.000 2954 1991 746

7247 1.99 576.5 29.5 12.4 663 7248 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1991 745

7310 2.01 592.1 22.2 11.7 669 7312 0.12 0.00 0.00 0.000 6 0.044 0.000 3002 1991 744

7376 2.01 592.1 12.8 15.8 679 7383 0.12 0.00 0.00 0.000 6 0.082 0.000 2977 1991 744

7451 2.01 592.1 2.2 14.0 692 7457 0.00 2.53 0.00 0.000 4 0.000 0.058 2977 595 744

7462 end climb: SURFACE_DEPTH_REACHED

state 7462 begin surface coast

7474 end surface coast: CONTROL_FINISHED_OK

state 7474 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	113	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	1970	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1994	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	375	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	180	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	220	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	750	T_GPS_CHARGE	-108700.6	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	45	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2542	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	063756,2157.362,-15947.522,11,1.7,17,9.8	TGT_LATLONG	2154.033,-15942.617
_CALLS	1	TGT_RADIUS	500.000
_XMS_NAKs	4	KALMAN_CONTROL	0.269,-0.223
_XMS_TOUTs	0	KALMAN_X	-173298.2,-1521.6,270.8,168781.9,-5139.3
_SM_DEPTHo	1.22	KALMAN_Y	78173.4,961.1,1.2,-75897.2,4038.6
_SM_ANGLEo	-52.1	MHEAD_RNG_PITCHd_Wd	119.8,10753,-16.6,-12.222
GPS2	064706,2157.458,-15947.670,17,1.1,33,9.8	D_GRID	660
SPEED_LIMITS	0.122,0.350	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	10N

FINISH	0.5,1.010583	MM_CLLLayer	0.03
SM_CCo	7558,0.00,0.000,0,0,742,533.53	MM_CfgFile	0.30
SM_GC	1.15,11.12,0.00,0.00,0.025,0.000,0.000,404,2002,742,-9.77,0.90,533.53	_24V_AH	23.8,25.423
IRIDIUM_FIX	2150.42,-15947.31,021198,040441	_10V_AH	10.1,11.199
TT8_MAMPS	0.059059	DATA_FILE_SIZE	22080,696
HUMID	2016	CAP_FILE_SIZE	117016,0
INTERNAL_PRESSURE	7.49052	CFSIZE	260165632,246706176
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	080809,085458,2157.183,-15947.551,8,3.5,28,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	177	107.36	SBE_CT	483	24	276.25
Roll_motor	150	72	260.43	nil	0	0	0.00
VBD_pump_during_apogee	681	906	14696.05	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	25	103	63.51	nil	0	0	0.00
Iridium_during_connect	31	160	119.45	GUMSTIX	125	1000	2987.85
Iridium_during_xfer	320	223	1700.23
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	52	1000	1250.26
GPS	33	50	16.93
TT8	1373	18	249.67
LPSleep	3906	0	15.39
TT8_Active	787	18	143.20
TT8_Sampling	1361	38	522.40
TT8_CF8	678	44	301.62
TT8_Kalman	33	80	26.95
Analog_circuits	1644	12	199.28
GPS_charging	0	0	0.00
Compass	1295	8	104.69
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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.58	-243.3	0.0	0.0	0	118	0.00	0.00	-96.72	0.000	2	0.000	0.000	404	1977	3280
121	-1.58	-243.3	3.9	-8.2	16	148	10.57	2.47	-10.60	0.000	4	0.178	0.060	2191	3362	3913
207	-1.58	-243.3	28.0	-22.2	27	211	0.00	2.40	0.00	0.000	6	0.000	0.034	2191	1965	3914
277	-1.58	-243.3	44.1	-23.0	33	281	0.00	2.50	0.00	0.000	4	0.000	0.050	2191	3368	3915
305	-1.58	-243.3	49.7	-20.0	35	309	0.00	2.40	0.00	0.000	6	0.000	0.032	2191	1966	3915
375	-1.58	-243.3	63.4	-20.9	41	376	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1966	3915
438	-1.58	-243.3	76.3	-19.9	47	443	0.00	2.50	0.00	0.000	4	0.000	0.057	2191	570	3915
515	-1.58	-243.3	90.3	-18.6	53	523	0.00	2.38	0.00	0.000	6	0.000	0.028	2191	1983	3916
586	-1.58	-243.3	103.5	-19.2	60	587	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1984	3916
650	-1.58	-243.3	115.6	-18.5	66	651	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1984	3916
713	-1.58	-243.3	127.5	-18.5	72	714	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	1984	3917
777	-1.58	-243.3	138.7	-17.6	78	778	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1984	3917
841	-1.58	-243.3	149.5	-16.5	84	845	0.00	2.45	0.00	0.000	4	0.000	0.051	2191	3366	3918
884	-1.58	-243.3	156.6	-15.4	87	891	0.00	2.40	0.00	0.000	6	0.000	0.033	2191	1963	3918
955	-1.58	-243.3	168.3	-17.3	94	959	0.00	2.53	0.00	0.000	4	0.000	0.060	2191	566	3918
1039	-1.58	-243.3	182.9	-16.8	101	1043	0.00	2.38	0.00	0.000	6	0.000	0.030	2191	1975	3919
1109	-1.58	-243.3	194.4	-16.6	107	1110	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1975	3919
1173	-1.58	-243.3	205.1	-16.8	113	1174	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1976	3919
1236	-1.58	-243.3	215.8	-17.0	119	1240	0.00	2.55	0.00	0.000	4	0.000	0.058	2191	567	3918
1275	-1.58	-243.3	222.1	-15.8	122	1280	0.00	2.38	0.00	0.000	6	0.000	0.031	2191	1971	3919
1345	-1.58	-243.3	232.4	-14.6	128	1349	0.00	2.50	0.00	0.000	4	0.000	0.054	2191	3374	3919
1373	-1.58	-243.3	236.7	-15.7	130	1377	0.00	2.40	0.00	0.000	6	0.000	0.035	2191	1970	3919
1450	-1.58	-243.3	247.9	-14.7	137	1451	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1971	3919
1512	-1.58	-243.3	257.5	-15.0	143	1516	0.00	2.50	0.00	0.000	4	0.000	0.052	2191	3367	3920
1563	-1.58	-243.3	265.5	-15.0	147	1570	0.00	2.40	0.00	0.000	6	0.000	0.035	2191	1971	3919
1633	-1.58	-243.3	275.6	-14.4	154	1637	0.00	2.55	0.00	0.000	4	0.000	0.064	2191	573	3919
1654	-1.58	-243.3	278.8	-14.6	155	1661	0.00	2.38	0.00	0.000	6	0.000	0.033	2191	1967	3920
1725	-1.58	-243.3	288.2	-13.7	162	1727	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1967	3920
1788	-1.58	-243.3	296.7	-12.9	168	1789	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1967	3920
1851	-1.58	-243.3	305.4	-13.8	174	1856	0.00	2.53	0.00	0.000	4	0.000	0.058	2191	3370	3920
1891	-1.58	-243.3	310.9	-14.0	177	1896	0.00	2.42	0.00	0.000	6	0.000	0.039	2191	1973	3920
2089	-1.58	-243.3	337.6	-13.7	195	2090	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1973	3919
2280	-1.58	-243.3	363.0	-12.6	213	2284	0.00	2.60	0.00	0.000	4	0.000	0.069	2191	562	3919
2334	-1.58	-243.3	370.0	-12.5	217	2341	0.00	2.42	0.00	0.000	6	0.000	0.035	2191	1972	3918
2532	-1.58	-243.3	394.3	-11.8	236	2537	0.00	2.55	0.00	0.000	4	0.000	0.063	2191	3370	3916
2599	-1.58	-243.3	402.8	-13.3	241	2606	0.00	2.47	0.00	0.000	6	0.000	0.041	2191	1961	3916
2797	-1.58	-243.3	428.0	-12.4	260	2798	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	1960	3915
2988	-1.58	-243.3	451.9	-12.7	278	2992	0.00	2.58	0.00	0.000	4	0.000	0.063	2191	3367	3913
3020	-1.58	-243.3	456.0	-12.8	280	3027	0.00	2.47	0.00	0.000	6	0.000	0.042	2191	1962	3913
3218	-1.58	-243.3	478.1	-9.4	299	3219	0.00	0.00	0.00	0.000	6	0.000	0.000	2191	1961	3911
3374	end dive: NO_VERTICAL_VELOCITY
state	3375	begin apogee
3380	-0.38	0.0	478.0	0.0	314	3598	1.20	0.00	209.45	0.907	6	0.064	0.000	2453	1961	2917
3599	end apogee: CONTROL_FINISHED_OK
state	3599	begin climb
3602	1.58	243.3	477.7	0.0	336	3826	1.98	2.75	210.32	0.871	4	0.061	0.064	2886	3393	1925
3889	1.66	307.0	457.6	10.1	362	3957	0.00	2.50	57.38	0.844	6	0.000	0.044	2886	1994	1665
4149	1.72	355.1	431.8	10.6	386	4199	0.12	2.70	43.62	0.839	4	0.052	0.072	2923	585	1469
4232	1.72	355.1	421.1	14.2	393	4239	0.00	2.50	0.00	0.000	6	0.000	0.040	2923	1994	1466
4429	1.72	355.1	395.0	12.6	412	4434	0.00	2.60	0.00	0.000	4	0.000	0.066	2923	3394	1461
4481	1.73	370.0	388.9	11.7	416	4504	0.00	2.50	13.70	0.785	6	0.000	0.044	2923	1995	1407
4694	1.73	370.0	362.8	12.9	436	4699	0.00	2.65	0.00	0.000	4	0.000	0.073	2923	588	1404
4750	1.73	370.0	355.1	13.4	440	4757	0.00	2.47	0.00	0.000	6	0.000	0.040	2923	1994	1403
4948	1.75	380.9	329.9	11.9	459	4963	0.00	2.67	10.15	0.756	4	0.000	0.068	2923	588	1364
5004	1.75	380.9	322.6	13.8	464	5008	0.00	2.47	0.00	0.000	6	0.000	0.039	2923	1993	1363
5202	1.83	449.7	301.8	9.9	482	5271	0.00	2.70	63.72	0.820	4	0.000	0.064	2923	3401	1083
5295	1.87	477.7	291.9	11.3	490	5330	0.10	2.53	26.30	0.775	6	0.058	0.044	2954	1993	968
5392	1.87	477.7	279.2	13.7	499	5397	0.00	2.65	0.00	0.000	4	0.000	0.071	2954	585	964
5443	1.87	477.7	272.0	14.6	503	5448	0.00	2.47	0.00	0.000	6	0.000	0.038	2954	1996	963
5513	1.87	477.7	262.9	12.8	509	5514	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1997	962
5577	1.87	477.7	254.7	12.5	515	5578	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1996	960
5640	1.87	477.7	246.7	12.2	521	5641	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1997	960
5704	1.87	477.7	238.6	12.6	527	5705	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1997	960
5768	1.87	477.7	230.2	13.5	533	5769	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1997	959
5832	1.87	477.7	221.2	14.2	539	5833	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1998	959
5895	1.87	477.7	211.6	15.8	545	5899	0.00	2.62	0.00	0.000	4	0.000	0.065	2954	586	958
5950	1.87	477.7	202.1	17.7	549	5957	0.00	2.45	0.00	0.000	6	0.000	0.035	2954	2003	958
6020	1.87	477.7	191.0	16.0	556	6024	0.00	2.62	0.00	0.000	4	0.000	0.064	2954	585	957
6064	1.87	477.7	183.7	17.5	559	6071	0.00	2.45	0.00	0.000	6	0.000	0.035	2953	1994	957
6134	1.87	477.7	173.5	14.5	566	6135	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	1994	956
6197	1.87	477.7	165.0	13.0	572	6201	0.00	2.60	0.00	0.000	4	0.000	0.064	2954	589	956
6226	1.87	477.7	161.1	14.4	574	6230	0.00	2.45	0.00	0.000	6	0.000	0.034	2954	2006	956
6296	1.87	477.7	151.7	13.2	580	6300	0.00	2.53	0.00	0.000	4	0.000	0.060	2954	3392	956
6350	1.87	477.7	144.5	13.6	584	6357	0.00	2.47	0.00	0.000	6	0.000	0.038	2954	1979	955
6421	1.87	477.7	135.6	12.8	591	6425	0.00	2.55	0.00	0.000	4	0.000	0.062	2954	588	955
6453	1.87	477.7	131.0	13.8	593	6460	0.00	2.42	0.00	0.000	6	0.000	0.032	2954	2003	955
6524	1.87	477.7	121.9	13.2	600	6528	0.00	2.50	0.00	0.000	4	0.000	0.057	2954	3385	954
6552	1.87	477.7	117.8	14.5	602	6556	0.00	2.42	0.00	0.000	6	0.000	0.036	2954	1991	954
6621	1.87	477.7	108.4	13.5	608	6626	0.00	2.58	0.00	0.000	4	0.000	0.061	2954	585	954
6684	1.87	477.7	99.7	13.6	613	6688	0.00	2.40	0.00	0.000	6	0.000	0.031	2954	1994	954
6754	1.87	477.7	90.4	13.3	619	6755	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1994	954
6817	1.87	477.7	82.0	13.5	625	6821	0.00	2.55	0.00	0.000	4	0.000	0.058	2953	593	954
6901	1.87	477.7	70.9	13.1	632	6906	0.00	2.40	0.00	0.000	6	0.000	0.031	2954	1996	954
6971	1.87	477.7	62.0	12.7	638	6975	0.00	2.53	0.00	0.000	4	0.000	0.057	2954	3395	954
6999	1.87	477.7	58.7	13.1	640	7003	0.00	2.42	0.00	0.000	6	0.000	0.035	2953	1991	954
7069	1.92	521.7	50.0	10.7	646	7109	0.00	0.00	35.95	0.603	6	0.000	0.000	2954	1990	789
7173	1.99	576.5	38.8	10.4	656	7185	0.00	0.00	10.50	0.535	6	0.000	0.000	2954	1991	746
7247	1.99	576.5	29.5	12.4	663	7248	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	1991	745
7310	2.01	592.1	22.2	11.7	669	7312	0.12	0.00	0.00	0.000	6	0.044	0.000	3002	1991	744
7376	2.01	592.1	12.8	15.8	679	7383	0.12	0.00	0.00	0.000	6	0.082	0.000	2977	1991	744
7451	2.01	592.1	2.2	14.0	692	7457	0.00	2.53	0.00	0.000	4	0.000	0.058	2977	595	744
7462	end climb: SURFACE_DEPTH_REACHED
state	7462	begin surface coast
7474	end surface coast: CONTROL_FINISHED_OK
state	7474	begin surface