Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 21 * 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 21 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 450 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 450 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 750 T_GPS_CHARGE -106788.05 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 450

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 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 -106788.05

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 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 29 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 33 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 21 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 161525,2153.225,-15940.455,38,1.1,38,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 6 KALMAN_CONTROL 0.192,-0.263

_XMS_TOUTs 0 KALMAN_X -23276.2,1428.6,71.2,28205.6,-2378.1

_SM_DEPTHo 1.25 KALMAN_Y 5175.7,-642.1,26.9,-9146.8,390.3

_SM_ANGLEo -53.0 MHEAD_RNG_PITCHd_Wd 134.0,5478,-13.9,-10.000

GPS2 162526,2153.231,-15940.566,13,1.0,13,9.8 D_GRID 450

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.6,1.012481 MM_CLLLayer 0.03

SM_CCo 8627,0.00,0.000,0,0,846,508.02 MM_CfgFile 0.30

SM_GC 1.24,10.95,0.00,0.00,0.029,0.000,0.000,405,1897,846,-9.82,-0.23,508.02 _24V_AH 23.8,9.669

IRIDIUM_FIX 2145.77,-15942.95,251098,121214 _10V_AH 10.1,4.142

TT8_MAMPS 0.079768 DATA_FILE_SIZE 25263,817

HUMID 1879 CAP_FILE_SIZE 89240,0

INTERNAL_PRESSURE 7.49052 CFSIZE 260165632,255008768

TCM_TEMP 24.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 310709,185106,2152.426,-15940.457,11,1.4,27,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 194 118.81 SBE_CT 563 24 321.72

Roll_motor 75 75 137.12 nil 0 0 0.00

VBD_pump_during_apogee 653 866 13472.47 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 63.57 nil 0 0 0.00

Iridium_during_connect 29 160 112.85 GUMSTIX 132 1000 3147.86

Iridium_during_xfer 387 223 2054.36

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 59 1000 1424.29

GPS 13 50 6.73

TT8 1460 18 265.51

LPSleep 4988 0 19.65

TT8_Active 692 18 125.93

TT8_Sampling 1389 38 533.28

TT8_CF8 694 44 308.78

TT8_Kalman 33 80 26.94

Analog_circuits 1479 12 179.31

GPS_charging 0 0 0.00

Compass 1343 8 108.59

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.37 -243.3 0.0 0.0 0 112 0.00 0.00 -90.62 0.000 2 0.000 0.000 404 1892 3143

115 -1.37 -243.3 3.0 -5.0 15 149 11.52 2.53 -14.32 0.000 4 0.194 0.070 2247 509 3910

216 -1.37 -243.3 25.3 -18.9 30 223 0.00 2.40 0.00 0.000 6 0.000 0.031 2248 1918 3912

413 -1.37 -243.3 60.1 -16.8 49 415 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1922 3912

732 -1.37 -243.3 109.3 -15.7 79 736 0.00 2.45 0.00 0.000 4 0.000 0.051 2248 3297 3913

753 -1.37 -243.3 112.7 -15.8 80 760 0.00 2.40 0.00 0.000 6 0.000 0.035 2248 1902 3914

1080 -1.37 -243.3 161.2 -14.2 111 1081 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1902 3914

1396 -1.37 -243.3 202.8 -12.8 141 1398 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1902 3915

1715 -1.37 -243.3 241.6 -12.1 171 1719 0.00 2.53 0.00 0.000 4 0.000 0.054 2248 3303 3915

1777 -1.37 -243.3 249.7 -12.9 176 1781 0.00 2.42 0.00 0.000 6 0.000 0.038 2247 1903 3916

2108 -1.37 -243.3 288.3 -11.2 207 2110 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 1903 3915

2426 -1.37 -243.3 320.6 -9.0 237 2427 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1904 3915

2744 -1.37 -243.3 352.6 -10.5 267 2748 0.00 2.53 0.00 0.000 4 0.000 0.060 2248 3295 3913

2784 -1.37 -243.3 356.6 -9.8 270 2789 0.00 2.42 0.00 0.000 6 0.000 0.041 2247 1908 3913

3111 -1.37 -243.3 389.8 -10.1 300 3115 0.00 2.55 0.00 0.000 4 0.000 0.062 2247 3298 3911

3166 -1.37 -243.3 395.8 -10.5 304 3173 0.00 2.47 0.00 0.000 6 0.000 0.044 2248 1896 3910

3493 -1.37 -243.3 427.6 -9.4 335 3497 0.00 2.58 0.00 0.000 4 0.000 0.063 2248 3299 3908

3514 -1.37 -243.3 429.9 -9.7 336 3521 0.00 2.47 0.00 0.000 6 0.000 0.044 2248 1901 3907

3719 end dive: TARGET_DEPTH_EXCEEDED

state 3720 begin apogee

3726 -0.38 0.0 450.7 10.5 356 3943 1.05 0.00 208.35 0.867 6 0.094 0.000 2461 1987 2917

3944 end apogee: CONTROL_FINISHED_OK

state 3944 begin climb

3947 1.37 243.3 460.8 0.0 378 4175 1.80 2.72 211.15 0.842 4 0.065 0.076 2846 582 1923

4254 1.49 343.7 445.4 7.2 405 4356 0.15 2.50 90.47 0.823 6 0.050 0.042 2886 1993 1514

4674 1.49 343.7 401.0 12.2 444 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 1993 1506

4992 1.49 343.7 363.3 11.5 474 4997 0.00 2.60 0.00 0.000 4 0.000 0.071 2886 3385 1503

5025 1.49 343.7 359.5 11.2 476 5032 0.00 2.50 0.00 0.000 6 0.000 0.045 2886 1986 1503

5352 1.52 369.5 327.9 9.3 507 5379 0.00 2.70 22.17 0.788 4 0.000 0.076 2886 585 1410

5418 1.52 369.5 320.7 10.8 512 5425 0.00 2.50 0.00 0.000 6 0.000 0.041 2886 1996 1407

5745 1.52 369.5 283.8 11.9 543 5746 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 1997 1404

6062 1.52 369.5 249.4 11.4 573 6066 0.00 2.65 0.00 0.000 4 0.000 0.070 2886 582 1403

6101 1.52 369.5 244.8 12.4 576 6105 0.00 2.47 0.00 0.000 6 0.000 0.040 2886 1995 1402

6427 1.52 369.5 209.0 11.3 606 6432 0.00 2.62 0.00 0.000 4 0.000 0.067 2886 585 1401

6456 1.52 369.5 205.2 13.3 608 6460 0.00 2.45 0.00 0.000 6 0.000 0.038 2886 1992 1401

6782 1.52 369.5 171.0 10.9 638 6786 0.00 2.55 0.00 0.000 4 0.000 0.061 2886 3389 1400

6870 1.52 369.5 160.5 10.8 645 6877 0.00 2.45 0.00 0.000 6 0.000 0.039 2886 1986 1400

7197 1.54 379.5 126.5 9.7 676 7210 0.00 2.65 8.32 0.601 4 0.000 0.066 2886 588 1369

7245 1.54 379.5 121.6 10.4 680 7249 0.00 2.42 0.00 0.000 6 0.000 0.035 2886 1994 1368

7571 1.57 410.3 91.1 9.1 710 7601 0.00 0.00 28.15 0.624 6 0.000 0.000 2886 1995 1244

7920 1.61 438.2 61.1 9.2 743 7952 0.00 2.58 25.10 0.584 4 0.000 0.061 2886 582 1129

7976 1.66 476.7 55.9 8.9 748 8016 0.12 2.45 34.17 0.576 6 0.045 0.034 2934 2003 973

8334 1.66 476.7 19.9 10.4 781 8341 0.12 2.60 0.00 0.000 4 0.074 0.061 2908 587 968

8387 1.66 476.7 14.6 10.2 790 8394 0.00 2.40 0.00 0.000 6 0.000 0.031 2908 1998 967

8462 1.69 506.6 8.0 9.2 803 8494 0.00 0.00 25.23 0.525 6 0.000 0.000 2908 1998 850

8526 end climb: SURFACE_DEPTH_REACHED

state 8526 begin surface coast

8545 end surface coast: CONTROL_FINISHED_OK

state 8545 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	21	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	450	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	450	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	750	T_GPS_CHARGE	-106788.05	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	161525,2153.225,-15940.455,38,1.1,38,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	6	KALMAN_CONTROL	0.192,-0.263
_XMS_TOUTs	0	KALMAN_X	-23276.2,1428.6,71.2,28205.6,-2378.1
_SM_DEPTHo	1.25	KALMAN_Y	5175.7,-642.1,26.9,-9146.8,390.3
_SM_ANGLEo	-53.0	MHEAD_RNG_PITCHd_Wd	134.0,5478,-13.9,-10.000
GPS2	162526,2153.231,-15940.566,13,1.0,13,9.8	D_GRID	450
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.6,1.012481	MM_CLLLayer	0.03
SM_CCo	8627,0.00,0.000,0,0,846,508.02	MM_CfgFile	0.30
SM_GC	1.24,10.95,0.00,0.00,0.029,0.000,0.000,405,1897,846,-9.82,-0.23,508.02	_24V_AH	23.8,9.669
IRIDIUM_FIX	2145.77,-15942.95,251098,121214	_10V_AH	10.1,4.142
TT8_MAMPS	0.079768	DATA_FILE_SIZE	25263,817
HUMID	1879	CAP_FILE_SIZE	89240,0
INTERNAL_PRESSURE	7.49052	CFSIZE	260165632,255008768
TCM_TEMP	24.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	310709,185106,2152.426,-15940.457,11,1.4,27,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	194	118.81	SBE_CT	563	24	321.72
Roll_motor	75	75	137.12	nil	0	0	0.00
VBD_pump_during_apogee	653	866	13472.47	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	63.57	nil	0	0	0.00
Iridium_during_connect	29	160	112.85	GUMSTIX	132	1000	3147.86
Iridium_during_xfer	387	223	2054.36
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	59	1000	1424.29
GPS	13	50	6.73
TT8	1460	18	265.51
LPSleep	4988	0	19.65
TT8_Active	692	18	125.93
TT8_Sampling	1389	38	533.28
TT8_CF8	694	44	308.78
TT8_Kalman	33	80	26.94
Analog_circuits	1479	12	179.31
GPS_charging	0	0	0.00
Compass	1343	8	108.59
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.37	-243.3	0.0	0.0	0	112	0.00	0.00	-90.62	0.000	2	0.000	0.000	404	1892	3143
115	-1.37	-243.3	3.0	-5.0	15	149	11.52	2.53	-14.32	0.000	4	0.194	0.070	2247	509	3910
216	-1.37	-243.3	25.3	-18.9	30	223	0.00	2.40	0.00	0.000	6	0.000	0.031	2248	1918	3912
413	-1.37	-243.3	60.1	-16.8	49	415	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1922	3912
732	-1.37	-243.3	109.3	-15.7	79	736	0.00	2.45	0.00	0.000	4	0.000	0.051	2248	3297	3913
753	-1.37	-243.3	112.7	-15.8	80	760	0.00	2.40	0.00	0.000	6	0.000	0.035	2248	1902	3914
1080	-1.37	-243.3	161.2	-14.2	111	1081	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1902	3914
1396	-1.37	-243.3	202.8	-12.8	141	1398	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1902	3915
1715	-1.37	-243.3	241.6	-12.1	171	1719	0.00	2.53	0.00	0.000	4	0.000	0.054	2248	3303	3915
1777	-1.37	-243.3	249.7	-12.9	176	1781	0.00	2.42	0.00	0.000	6	0.000	0.038	2247	1903	3916
2108	-1.37	-243.3	288.3	-11.2	207	2110	0.00	0.00	0.00	0.000	6	0.000	0.000	2247	1903	3915
2426	-1.37	-243.3	320.6	-9.0	237	2427	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1904	3915
2744	-1.37	-243.3	352.6	-10.5	267	2748	0.00	2.53	0.00	0.000	4	0.000	0.060	2248	3295	3913
2784	-1.37	-243.3	356.6	-9.8	270	2789	0.00	2.42	0.00	0.000	6	0.000	0.041	2247	1908	3913
3111	-1.37	-243.3	389.8	-10.1	300	3115	0.00	2.55	0.00	0.000	4	0.000	0.062	2247	3298	3911
3166	-1.37	-243.3	395.8	-10.5	304	3173	0.00	2.47	0.00	0.000	6	0.000	0.044	2248	1896	3910
3493	-1.37	-243.3	427.6	-9.4	335	3497	0.00	2.58	0.00	0.000	4	0.000	0.063	2248	3299	3908
3514	-1.37	-243.3	429.9	-9.7	336	3521	0.00	2.47	0.00	0.000	6	0.000	0.044	2248	1901	3907
3719	end dive: TARGET_DEPTH_EXCEEDED
state	3720	begin apogee
3726	-0.38	0.0	450.7	10.5	356	3943	1.05	0.00	208.35	0.867	6	0.094	0.000	2461	1987	2917
3944	end apogee: CONTROL_FINISHED_OK
state	3944	begin climb
3947	1.37	243.3	460.8	0.0	378	4175	1.80	2.72	211.15	0.842	4	0.065	0.076	2846	582	1923
4254	1.49	343.7	445.4	7.2	405	4356	0.15	2.50	90.47	0.823	6	0.050	0.042	2886	1993	1514
4674	1.49	343.7	401.0	12.2	444	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	1993	1506
4992	1.49	343.7	363.3	11.5	474	4997	0.00	2.60	0.00	0.000	4	0.000	0.071	2886	3385	1503
5025	1.49	343.7	359.5	11.2	476	5032	0.00	2.50	0.00	0.000	6	0.000	0.045	2886	1986	1503
5352	1.52	369.5	327.9	9.3	507	5379	0.00	2.70	22.17	0.788	4	0.000	0.076	2886	585	1410
5418	1.52	369.5	320.7	10.8	512	5425	0.00	2.50	0.00	0.000	6	0.000	0.041	2886	1996	1407
5745	1.52	369.5	283.8	11.9	543	5746	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	1997	1404
6062	1.52	369.5	249.4	11.4	573	6066	0.00	2.65	0.00	0.000	4	0.000	0.070	2886	582	1403
6101	1.52	369.5	244.8	12.4	576	6105	0.00	2.47	0.00	0.000	6	0.000	0.040	2886	1995	1402
6427	1.52	369.5	209.0	11.3	606	6432	0.00	2.62	0.00	0.000	4	0.000	0.067	2886	585	1401
6456	1.52	369.5	205.2	13.3	608	6460	0.00	2.45	0.00	0.000	6	0.000	0.038	2886	1992	1401
6782	1.52	369.5	171.0	10.9	638	6786	0.00	2.55	0.00	0.000	4	0.000	0.061	2886	3389	1400
6870	1.52	369.5	160.5	10.8	645	6877	0.00	2.45	0.00	0.000	6	0.000	0.039	2886	1986	1400
7197	1.54	379.5	126.5	9.7	676	7210	0.00	2.65	8.32	0.601	4	0.000	0.066	2886	588	1369
7245	1.54	379.5	121.6	10.4	680	7249	0.00	2.42	0.00	0.000	6	0.000	0.035	2886	1994	1368
7571	1.57	410.3	91.1	9.1	710	7601	0.00	0.00	28.15	0.624	6	0.000	0.000	2886	1995	1244
7920	1.61	438.2	61.1	9.2	743	7952	0.00	2.58	25.10	0.584	4	0.000	0.061	2886	582	1129
7976	1.66	476.7	55.9	8.9	748	8016	0.12	2.45	34.17	0.576	6	0.045	0.034	2934	2003	973
8334	1.66	476.7	19.9	10.4	781	8341	0.12	2.60	0.00	0.000	4	0.074	0.061	2908	587	968
8387	1.66	476.7	14.6	10.2	790	8394	0.00	2.40	0.00	0.000	6	0.000	0.031	2908	1998	967
8462	1.69	506.6	8.0	9.2	803	8494	0.00	0.00	25.23	0.525	6	0.000	0.000	2908	1998	850
8526	end climb: SURFACE_DEPTH_REACHED
state	8526	begin surface coast
8545	end surface coast: CONTROL_FINISHED_OK
state	8545	begin surface