Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 20 * 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 20 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 1905 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1990 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 220 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 275 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 -106774.09 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 2552 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 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 30 RAFOS_DEVICE -1 T_DIVE 220

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 -106774.09

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 275

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 2552 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1990 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1905 MASS 51956 R_PORT_OVSHOOT 34 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 31 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 20 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 123500,2153.662,-15941.676,38,1.8,42,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 7 KALMAN_CONTROL 0.318,-0.070

_XMS_TOUTs 0 KALMAN_X -21394.6,1547.2,169.3,23995.6,-2779.7

_SM_DEPTHo 1.40 KALMAN_Y 5082.6,-488.5,-114.2,-8213.7,525.7

_SM_ANGLEo -60.4 MHEAD_RNG_PITCHd_Wd 92.6,2672,-13.9,-10.000

GPS2 124436,2153.691,-15941.797,13,1.6,29,9.8 D_GRID 660

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.5,1.022983 MM_CLLLayer 0.03

SM_CCo 12527,0.00,0.000,0,0,776,524.94 MM_CfgFile 0.30

SM_GC 1.32,10.95,0.00,0.00,0.027,0.000,0.000,404,1892,776,-9.82,-0.37,524.94 _24V_AH 23.5,9.479

IRIDIUM_FIX 2143.45,-15940.77,251098,090953 _10V_AH 10.1,4.057

TT8_MAMPS 0.077467 DATA_FILE_SIZE 37825,1171

HUMID 1904 CAP_FILE_SIZE 121548,0

INTERNAL_PRESSURE 7.47099 CFSIZE 260165632,255074304

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 310709,161525,2153.225,-15940.455,38,1.1,38,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 193 117.07 SBE_CT 827 24 466.50

Roll_motor 116 78 214.92 nil 0 0 0.00

VBD_pump_during_apogee 698 1070 17580.83 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 73.21 nil 0 0 0.00

Iridium_during_connect 26 160 98.65 GUMSTIX 167 1000 3925.56

Iridium_during_xfer 346 223 1818.30

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 84 1000 1989.63

GPS 29 50 14.98

TT8 2131 18 387.51

LPSleep 7453 0 29.36

TT8_Active 759 18 138.01

TT8_Sampling 2029 38 778.82

TT8_CF8 726 44 323.03

TT8_Kalman 33 80 26.94

Analog_circuits 1845 12 223.67

GPS_charging 0 0 0.00

Compass 1958 8 158.24

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 14 begin dive

16 -1.37 -243.3 0.0 0.0 0 86 0.00 0.00 -66.25 0.000 2 0.000 0.000 406 1896 3248

89 -1.37 -243.3 3.7 -7.2 11 122 11.48 2.58 -11.45 0.000 4 0.193 0.074 2247 517 3913

173 -1.37 -243.3 24.7 -20.5 23 177 0.00 2.38 0.00 0.000 6 0.000 0.031 2247 1915 3914

376 -1.37 -243.3 60.8 -17.1 42 377 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1919 3914

695 -1.37 -243.3 110.7 -14.8 72 699 0.00 2.45 0.00 0.000 4 0.000 0.050 2247 3297 3916

772 -1.37 -243.3 122.4 -14.6 78 779 0.00 2.38 0.00 0.000 6 0.000 0.034 2247 1915 3917

1099 -1.37 -243.3 166.8 -12.6 109 1103 0.00 2.47 0.00 0.000 4 0.000 0.051 2247 3300 3918

1131 -1.37 -243.3 171.2 -12.5 111 1138 0.00 2.42 0.00 0.000 6 0.000 0.035 2248 1895 3918

1457 -1.37 -243.3 211.2 -12.7 142 1462 0.00 2.53 0.00 0.000 4 0.000 0.054 2247 3305 3919

1531 -1.37 -243.3 220.2 -12.5 148 1535 0.00 2.42 0.00 0.000 6 0.000 0.038 2248 1905 3920

1858 -1.37 -243.3 260.6 -12.6 178 1862 0.00 2.60 0.00 0.000 4 0.000 0.071 2247 502 3920

1897 -1.37 -243.3 265.5 -12.5 181 1902 0.00 2.40 0.00 0.000 6 0.000 0.035 2248 1901 3920

2225 -1.37 -243.3 299.6 -11.7 211 2229 0.00 2.53 0.00 0.000 4 0.000 0.058 2248 3302 3920

2280 -1.37 -243.3 306.5 -11.6 215 2287 0.00 2.45 0.00 0.000 6 0.000 0.041 2247 1901 3919

2606 -1.37 -243.3 343.4 -12.1 246 2610 0.00 2.55 0.00 0.000 4 0.000 0.059 2247 3301 3918

2645 -1.37 -243.3 348.4 -12.4 249 2649 0.00 2.45 0.00 0.000 6 0.000 0.041 2250 1905 3918

2971 -1.37 -243.3 382.8 -10.3 279 2973 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1905 3916

3288 -1.37 -243.3 415.2 -11.0 309 3293 0.00 2.58 0.00 0.000 4 0.000 0.062 2248 3310 3913

3400 -1.37 -243.3 428.4 -12.5 318 3407 0.00 2.50 0.00 0.000 6 0.000 0.044 2247 1897 3912

3726 -1.37 -243.3 463.6 -10.7 349 3731 0.00 2.60 0.00 0.000 4 0.000 0.062 2247 3310 3909

3781 -1.37 -243.3 469.9 -10.8 353 3788 0.00 2.50 0.00 0.000 6 0.000 0.045 2248 1902 3909

4108 -1.37 -243.3 504.3 -10.2 384 4112 0.00 2.58 0.00 0.000 4 0.000 0.062 2247 3303 3906

4181 -1.37 -243.3 512.0 -10.3 390 4185 0.00 2.50 0.00 0.000 6 0.000 0.046 2248 1899 3905

4507 -1.37 -243.3 546.4 -10.5 420 4508 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 1898 3903

4824 -1.37 -243.3 577.4 -9.4 450 4829 0.00 2.60 0.00 0.000 4 0.000 0.064 2248 3310 3900

4869 -1.37 -243.3 581.6 -9.2 453 4875 0.00 2.50 0.00 0.000 6 0.000 0.047 2247 1905 3899

5195 -1.37 -243.3 609.3 -8.2 484 5199 0.00 2.58 0.00 0.000 4 0.000 0.064 2247 3300 3897

5291 -1.37 -243.3 617.6 -8.5 492 5295 0.00 2.50 0.00 0.000 6 0.000 0.048 2248 1899 3896

5617 -1.37 -243.3 645.6 -8.7 522 5619 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 1900 3894

5773 end dive: TARGET_DEPTH_EXCEEDED

state 5773 begin apogee

5779 -0.38 0.0 660.1 8.7 537 6007 1.08 0.00 217.68 1.071 6 0.100 0.000 2462 1992 2917

6008 end apogee: CONTROL_FINISHED_OK

state 6008 begin climb

6010 1.37 243.3 668.7 0.0 560 6249 1.83 2.78 222.93 1.026 4 0.070 0.078 2846 592 1924

6367 1.42 284.8 644.1 8.9 591 6413 0.00 2.53 39.88 0.984 6 0.000 0.045 2846 1996 1755

6732 1.47 325.2 611.2 8.9 625 6777 0.12 0.00 38.75 0.998 6 0.058 0.000 2882 1996 1591

7094 1.47 325.2 574.0 11.6 659 7098 0.00 2.62 0.00 0.000 4 0.000 0.072 2882 3388 1582

7138 1.47 325.2 568.5 12.5 662 7145 0.00 2.53 0.00 0.000 6 0.000 0.048 2882 1990 1582

7464 1.47 325.2 529.3 12.3 693 7468 0.00 2.62 0.00 0.000 4 0.000 0.067 2882 3388 1581

7485 1.47 325.2 526.4 12.0 694 7492 0.00 2.53 0.00 0.000 6 0.000 0.048 2882 1990 1581

7812 1.47 325.2 489.4 11.3 725 7813 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 1990 1580

8128 1.47 325.2 454.1 11.2 755 8133 0.00 2.62 0.00 0.000 4 0.000 0.067 2882 3393 1579

8190 1.47 325.2 446.9 11.9 760 8195 0.00 2.53 0.00 0.000 6 0.000 0.048 2882 1988 1578

8516 1.47 325.2 412.5 10.8 790 8517 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 1988 1577

8834 1.49 343.4 381.3 9.5 820 8857 0.00 2.67 15.70 0.891 4 0.000 0.065 2882 3396 1517

8885 1.50 349.6 376.3 9.8 824 8897 0.00 2.55 7.50 0.785 6 0.000 0.046 2882 1983 1491

9216 1.50 349.6 342.3 10.2 855 9217 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 1983 1487

9535 1.51 358.1 310.4 9.8 885 9551 0.00 2.67 8.50 0.777 4 0.000 0.061 2882 3388 1457

9581 1.54 382.3 306.1 9.3 889 9615 0.00 2.50 24.10 0.850 6 0.000 0.044 2882 1987 1358

9932 1.54 382.3 270.0 12.1 922 9937 0.00 2.65 0.00 0.000 4 0.000 0.074 2882 582 1353

9976 1.54 382.3 264.0 13.9 925 9983 0.00 2.47 0.00 0.000 6 0.000 0.040 2882 1993 1353

10303 1.54 382.3 227.9 11.6 956 10304 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 1997 1352

10620 1.57 410.2 193.3 9.2 986 10655 0.00 2.62 25.40 0.752 4 0.000 0.058 2882 3384 1244

10705 1.57 410.2 184.6 10.3 993 10712 0.00 2.47 0.00 0.000 6 0.000 0.040 2883 1988 1242

11031 1.57 410.2 148.7 10.2 1024 11036 0.00 2.60 0.00 0.000 4 0.000 0.067 2882 581 1239

11098 1.57 410.2 141.2 11.2 1029 11105 0.00 2.45 0.00 0.000 6 0.000 0.035 2882 2002 1239

11425 1.71 519.9 111.5 7.0 1060 11528 0.20 2.67 93.88 0.654 4 0.041 0.062 2946 585 795

11545 1.71 519.9 97.6 13.6 1071 11553 0.12 2.45 0.00 0.000 6 0.085 0.035 2922 1988 794

11870 1.71 519.9 57.4 11.2 1102 11874 0.00 2.60 0.00 0.000 4 0.000 0.063 2922 584 790

11924 1.71 519.9 50.7 12.4 1106 11931 0.00 2.42 0.00 0.000 6 0.000 0.033 2922 1990 791

12251 1.71 524.6 20.6 9.9 1137 12260 0.00 0.00 4.40 0.404 6 0.000 0.000 2922 1990 778

12429 end climb: SURFACE_DEPTH_REACHED

state 12429 begin surface coast

12445 end surface coast: CONTROL_FINISHED_OK

state 12445 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	20	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	1905	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1990	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	220	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	275	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	-106774.09	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	2552	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	123500,2153.662,-15941.676,38,1.8,42,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	7	KALMAN_CONTROL	0.318,-0.070
_XMS_TOUTs	0	KALMAN_X	-21394.6,1547.2,169.3,23995.6,-2779.7
_SM_DEPTHo	1.40	KALMAN_Y	5082.6,-488.5,-114.2,-8213.7,525.7
_SM_ANGLEo	-60.4	MHEAD_RNG_PITCHd_Wd	92.6,2672,-13.9,-10.000
GPS2	124436,2153.691,-15941.797,13,1.6,29,9.8	D_GRID	660
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.5,1.022983	MM_CLLLayer	0.03
SM_CCo	12527,0.00,0.000,0,0,776,524.94	MM_CfgFile	0.30
SM_GC	1.32,10.95,0.00,0.00,0.027,0.000,0.000,404,1892,776,-9.82,-0.37,524.94	_24V_AH	23.5,9.479
IRIDIUM_FIX	2143.45,-15940.77,251098,090953	_10V_AH	10.1,4.057
TT8_MAMPS	0.077467	DATA_FILE_SIZE	37825,1171
HUMID	1904	CAP_FILE_SIZE	121548,0
INTERNAL_PRESSURE	7.47099	CFSIZE	260165632,255074304
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	310709,161525,2153.225,-15940.455,38,1.1,38,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	193	117.07	SBE_CT	827	24	466.50
Roll_motor	116	78	214.92	nil	0	0	0.00
VBD_pump_during_apogee	698	1070	17580.83	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	73.21	nil	0	0	0.00
Iridium_during_connect	26	160	98.65	GUMSTIX	167	1000	3925.56
Iridium_during_xfer	346	223	1818.30
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	84	1000	1989.63
GPS	29	50	14.98
TT8	2131	18	387.51
LPSleep	7453	0	29.36
TT8_Active	759	18	138.01
TT8_Sampling	2029	38	778.82
TT8_CF8	726	44	323.03
TT8_Kalman	33	80	26.94
Analog_circuits	1845	12	223.67
GPS_charging	0	0	0.00
Compass	1958	8	158.24
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	14	begin dive
16	-1.37	-243.3	0.0	0.0	0	86	0.00	0.00	-66.25	0.000	2	0.000	0.000	406	1896	3248
89	-1.37	-243.3	3.7	-7.2	11	122	11.48	2.58	-11.45	0.000	4	0.193	0.074	2247	517	3913
173	-1.37	-243.3	24.7	-20.5	23	177	0.00	2.38	0.00	0.000	6	0.000	0.031	2247	1915	3914
376	-1.37	-243.3	60.8	-17.1	42	377	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1919	3914
695	-1.37	-243.3	110.7	-14.8	72	699	0.00	2.45	0.00	0.000	4	0.000	0.050	2247	3297	3916
772	-1.37	-243.3	122.4	-14.6	78	779	0.00	2.38	0.00	0.000	6	0.000	0.034	2247	1915	3917
1099	-1.37	-243.3	166.8	-12.6	109	1103	0.00	2.47	0.00	0.000	4	0.000	0.051	2247	3300	3918
1131	-1.37	-243.3	171.2	-12.5	111	1138	0.00	2.42	0.00	0.000	6	0.000	0.035	2248	1895	3918
1457	-1.37	-243.3	211.2	-12.7	142	1462	0.00	2.53	0.00	0.000	4	0.000	0.054	2247	3305	3919
1531	-1.37	-243.3	220.2	-12.5	148	1535	0.00	2.42	0.00	0.000	6	0.000	0.038	2248	1905	3920
1858	-1.37	-243.3	260.6	-12.6	178	1862	0.00	2.60	0.00	0.000	4	0.000	0.071	2247	502	3920
1897	-1.37	-243.3	265.5	-12.5	181	1902	0.00	2.40	0.00	0.000	6	0.000	0.035	2248	1901	3920
2225	-1.37	-243.3	299.6	-11.7	211	2229	0.00	2.53	0.00	0.000	4	0.000	0.058	2248	3302	3920
2280	-1.37	-243.3	306.5	-11.6	215	2287	0.00	2.45	0.00	0.000	6	0.000	0.041	2247	1901	3919
2606	-1.37	-243.3	343.4	-12.1	246	2610	0.00	2.55	0.00	0.000	4	0.000	0.059	2247	3301	3918
2645	-1.37	-243.3	348.4	-12.4	249	2649	0.00	2.45	0.00	0.000	6	0.000	0.041	2250	1905	3918
2971	-1.37	-243.3	382.8	-10.3	279	2973	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1905	3916
3288	-1.37	-243.3	415.2	-11.0	309	3293	0.00	2.58	0.00	0.000	4	0.000	0.062	2248	3310	3913
3400	-1.37	-243.3	428.4	-12.5	318	3407	0.00	2.50	0.00	0.000	6	0.000	0.044	2247	1897	3912
3726	-1.37	-243.3	463.6	-10.7	349	3731	0.00	2.60	0.00	0.000	4	0.000	0.062	2247	3310	3909
3781	-1.37	-243.3	469.9	-10.8	353	3788	0.00	2.50	0.00	0.000	6	0.000	0.045	2248	1902	3909
4108	-1.37	-243.3	504.3	-10.2	384	4112	0.00	2.58	0.00	0.000	4	0.000	0.062	2247	3303	3906
4181	-1.37	-243.3	512.0	-10.3	390	4185	0.00	2.50	0.00	0.000	6	0.000	0.046	2248	1899	3905
4507	-1.37	-243.3	546.4	-10.5	420	4508	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	1898	3903
4824	-1.37	-243.3	577.4	-9.4	450	4829	0.00	2.60	0.00	0.000	4	0.000	0.064	2248	3310	3900
4869	-1.37	-243.3	581.6	-9.2	453	4875	0.00	2.50	0.00	0.000	6	0.000	0.047	2247	1905	3899
5195	-1.37	-243.3	609.3	-8.2	484	5199	0.00	2.58	0.00	0.000	4	0.000	0.064	2247	3300	3897
5291	-1.37	-243.3	617.6	-8.5	492	5295	0.00	2.50	0.00	0.000	6	0.000	0.048	2248	1899	3896
5617	-1.37	-243.3	645.6	-8.7	522	5619	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	1900	3894
5773	end dive: TARGET_DEPTH_EXCEEDED
state	5773	begin apogee
5779	-0.38	0.0	660.1	8.7	537	6007	1.08	0.00	217.68	1.071	6	0.100	0.000	2462	1992	2917
6008	end apogee: CONTROL_FINISHED_OK
state	6008	begin climb
6010	1.37	243.3	668.7	0.0	560	6249	1.83	2.78	222.93	1.026	4	0.070	0.078	2846	592	1924
6367	1.42	284.8	644.1	8.9	591	6413	0.00	2.53	39.88	0.984	6	0.000	0.045	2846	1996	1755
6732	1.47	325.2	611.2	8.9	625	6777	0.12	0.00	38.75	0.998	6	0.058	0.000	2882	1996	1591
7094	1.47	325.2	574.0	11.6	659	7098	0.00	2.62	0.00	0.000	4	0.000	0.072	2882	3388	1582
7138	1.47	325.2	568.5	12.5	662	7145	0.00	2.53	0.00	0.000	6	0.000	0.048	2882	1990	1582
7464	1.47	325.2	529.3	12.3	693	7468	0.00	2.62	0.00	0.000	4	0.000	0.067	2882	3388	1581
7485	1.47	325.2	526.4	12.0	694	7492	0.00	2.53	0.00	0.000	6	0.000	0.048	2882	1990	1581
7812	1.47	325.2	489.4	11.3	725	7813	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	1990	1580
8128	1.47	325.2	454.1	11.2	755	8133	0.00	2.62	0.00	0.000	4	0.000	0.067	2882	3393	1579
8190	1.47	325.2	446.9	11.9	760	8195	0.00	2.53	0.00	0.000	6	0.000	0.048	2882	1988	1578
8516	1.47	325.2	412.5	10.8	790	8517	0.00	0.00	0.00	0.000	6	0.000	0.000	2883	1988	1577
8834	1.49	343.4	381.3	9.5	820	8857	0.00	2.67	15.70	0.891	4	0.000	0.065	2882	3396	1517
8885	1.50	349.6	376.3	9.8	824	8897	0.00	2.55	7.50	0.785	6	0.000	0.046	2882	1983	1491
9216	1.50	349.6	342.3	10.2	855	9217	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	1983	1487
9535	1.51	358.1	310.4	9.8	885	9551	0.00	2.67	8.50	0.777	4	0.000	0.061	2882	3388	1457
9581	1.54	382.3	306.1	9.3	889	9615	0.00	2.50	24.10	0.850	6	0.000	0.044	2882	1987	1358
9932	1.54	382.3	270.0	12.1	922	9937	0.00	2.65	0.00	0.000	4	0.000	0.074	2882	582	1353
9976	1.54	382.3	264.0	13.9	925	9983	0.00	2.47	0.00	0.000	6	0.000	0.040	2882	1993	1353
10303	1.54	382.3	227.9	11.6	956	10304	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	1997	1352
10620	1.57	410.2	193.3	9.2	986	10655	0.00	2.62	25.40	0.752	4	0.000	0.058	2882	3384	1244
10705	1.57	410.2	184.6	10.3	993	10712	0.00	2.47	0.00	0.000	6	0.000	0.040	2883	1988	1242
11031	1.57	410.2	148.7	10.2	1024	11036	0.00	2.60	0.00	0.000	4	0.000	0.067	2882	581	1239
11098	1.57	410.2	141.2	11.2	1029	11105	0.00	2.45	0.00	0.000	6	0.000	0.035	2882	2002	1239
11425	1.71	519.9	111.5	7.0	1060	11528	0.20	2.67	93.88	0.654	4	0.041	0.062	2946	585	795
11545	1.71	519.9	97.6	13.6	1071	11553	0.12	2.45	0.00	0.000	6	0.085	0.035	2922	1988	794
11870	1.71	519.9	57.4	11.2	1102	11874	0.00	2.60	0.00	0.000	4	0.000	0.063	2922	584	790
11924	1.71	519.9	50.7	12.4	1106	11931	0.00	2.42	0.00	0.000	6	0.000	0.033	2922	1990	791
12251	1.71	524.6	20.6	9.9	1137	12260	0.00	0.00	4.40	0.404	6	0.000	0.000	2922	1990	778
12429	end climb: SURFACE_DEPTH_REACHED
state	12429	begin surface coast
12445	end surface coast: CONTROL_FINISHED_OK
state	12445	begin surface