Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 22 * 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 22 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 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 -106804.48 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 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 45 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 -106804.48

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 30 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 40 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 22 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 185106,2152.426,-15940.457,11,1.4,27,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 5 KALMAN_CONTROL 0.164,-0.282

_XMS_TOUTs 0 KALMAN_X -24331.2,740.6,7.6,29932.2,-2276.7

_SM_DEPTHo 1.22 KALMAN_Y 5758.0,-415.0,112.3,-11518.2,688.4

_SM_ANGLEo -53.4 MHEAD_RNG_PITCHd_Wd 140.1,4076,-13.9,-10.000

GPS2 190032,2152.437,-15940.612,15,1.1,15,9.8 D_GRID 450

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.5,1.009678 MM_CLLLayer 0.03

SM_CCo 8753,0.00,0.000,0,0,975,476.37 MM_CfgFile 0.30

SM_GC 1.12,11.02,0.00,0.00,0.030,0.000,0.000,410,1885,975,-9.81,-0.54,476.37 _24V_AH 23.8,9.854

IRIDIUM_FIX 2143.45,-15940.77,251098,161640 _10V_AH 10.1,4.223

TT8_MAMPS 0.057525 DATA_FILE_SIZE 25261,826

HUMID 1944 CAP_FILE_SIZE 89786,0

INTERNAL_PRESSURE 7.50029 CFSIZE 260165632,254914560

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 310709,212832,2151.392,-15940.675,21,2.3,40,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 194 118.23 SBE_CT 571 24 326.57

Roll_motor 75 78 140.90 nil 0 0 0.00

VBD_pump_during_apogee 623 876 13001.51 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 24 103 60.63 nil 0 0 0.00

Iridium_during_connect 32 160 123.92 GUMSTIX 118 1000 2822.85

Iridium_during_xfer 353 223 1874.83

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 60 1000 1439.71

GPS 15 50 7.97

TT8 1495 18 271.97

LPSleep 5072 0 19.98

TT8_Active 666 18 121.14

TT8_Sampling 1427 38 547.98

TT8_CF8 660 44 293.35

TT8_Kalman 33 80 26.93

Analog_circuits 1461 12 177.14

GPS_charging 0 0 0.00

Compass 1377 8 111.34

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

15 -1.37 -243.3 0.0 0.0 0 109 0.00 0.00 -90.50 0.000 2 0.000 0.000 405 1897 3214

113 -1.37 -243.3 3.1 -5.1 15 140 11.48 0.00 -12.55 0.000 6 0.194 0.000 2249 1897 3912

207 -1.37 -243.3 23.7 -16.9 29 208 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 1897 3914

398 -1.37 -243.3 52.4 -14.0 47 402 0.00 2.53 0.00 0.000 4 0.000 0.061 2249 508 3914

441 -1.37 -243.3 58.3 -13.0 50 448 0.00 2.38 0.00 0.000 6 0.000 0.031 2250 1909 3914

766 -1.37 -243.3 100.6 -12.7 81 770 0.00 2.45 0.00 0.000 4 0.000 0.051 2249 3296 3916

809 -1.37 -243.3 107.1 -14.9 84 817 0.00 2.38 0.00 0.000 6 0.000 0.035 2249 1911 3916

1136 -1.37 -243.3 151.2 -12.2 115 1140 0.00 2.47 0.00 0.000 4 0.000 0.051 2249 3299 3916

1157 -1.37 -243.3 154.3 -12.9 116 1164 0.00 2.40 0.00 0.000 6 0.000 0.035 2249 1904 3917

1484 -1.37 -243.3 194.6 -12.4 147 1485 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 1904 3917

1800 -1.37 -243.3 236.6 -11.1 177 1804 0.00 2.50 0.00 0.000 4 0.000 0.054 2249 3296 3917

1862 -1.37 -243.3 243.9 -12.4 182 1866 0.00 2.40 0.00 0.000 6 0.000 0.039 2250 1906 3917

2195 -1.37 -243.3 277.8 -9.0 213 2200 0.00 2.62 0.00 0.000 4 0.000 0.073 2249 496 3918

2247 -1.37 -243.3 282.7 -9.3 217 2251 0.00 2.42 0.00 0.000 6 0.000 0.037 2249 1902 3917

2573 -1.37 -243.3 312.2 -9.1 247 2577 0.00 2.55 0.00 0.000 4 0.000 0.061 2250 3310 3916

2635 -1.37 -243.3 318.3 -9.6 252 2639 0.00 2.47 0.00 0.000 6 0.000 0.042 2249 1899 3916

2962 -1.37 -243.3 352.0 -9.9 282 2966 0.00 2.58 0.00 0.000 4 0.000 0.061 2249 3310 3913

3005 -1.37 -243.3 357.0 -10.7 285 3012 0.00 2.47 0.00 0.000 6 0.000 0.043 2249 1904 3913

3332 -1.37 -243.3 392.0 -10.9 316 3333 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 1904 3910

3649 -1.37 -243.3 424.6 -10.5 346 3650 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 1903 3907

3880 end dive: TARGET_DEPTH_EXCEEDED

state 3880 begin apogee

3886 -0.38 0.0 450.4 11.3 368 4104 1.05 0.00 207.82 0.877 6 0.099 0.000 2462 1993 2916

4105 end apogee: CONTROL_FINISHED_OK

state 4105 begin climb

4107 1.37 243.3 462.5 0.0 390 4330 1.83 2.65 210.18 0.848 4 0.065 0.066 2851 3390 1924

4398 1.46 319.5 447.9 7.9 415 4477 0.00 2.53 68.47 0.827 6 0.000 0.044 2850 1983 1613

4795 1.48 333.9 413.5 9.6 452 4815 0.10 0.00 12.98 0.768 6 0.061 0.000 2881 1983 1555

5133 1.48 333.9 374.5 11.6 484 5137 0.00 2.65 0.00 0.000 4 0.000 0.078 2882 586 1550

5172 1.48 333.9 369.6 13.2 487 5177 0.00 2.47 0.00 0.000 6 0.000 0.043 2881 1988 1550

5498 1.48 333.9 331.1 11.7 517 5503 0.00 2.60 0.00 0.000 4 0.000 0.068 2881 3389 1548

5538 1.48 333.9 326.0 12.9 520 5542 0.00 2.50 0.00 0.000 6 0.000 0.045 2881 1986 1547

5864 1.49 343.6 289.5 9.7 550 5875 0.00 0.00 8.65 0.718 6 0.000 0.000 2881 1986 1516

6193 1.49 343.6 257.0 10.5 581 6197 0.00 2.62 0.00 0.000 4 0.000 0.075 2882 586 1513

6247 1.49 343.6 250.7 10.7 585 6254 0.00 2.47 0.00 0.000 6 0.000 0.041 2882 1996 1512

6574 1.49 343.6 218.1 10.2 616 6578 0.00 2.55 0.00 0.000 4 0.000 0.064 2881 3388 1511

6658 1.49 343.6 209.3 10.5 623 6662 0.00 2.47 0.00 0.000 6 0.000 0.042 2882 1986 1511

6984 1.57 405.3 179.9 8.3 653 7045 0.00 2.67 54.65 0.733 4 0.000 0.070 2881 582 1264

7090 1.57 405.3 169.3 11.0 662 7097 0.00 2.47 0.00 0.000 6 0.000 0.038 2882 1992 1260

7417 1.63 454.4 140.0 8.6 693 7466 0.12 0.00 42.90 0.683 6 0.048 0.000 2926 1996 1063

7784 1.63 454.4 96.1 12.7 728 7785 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 1996 1057

8102 1.63 454.4 59.3 12.1 758 8107 0.00 2.60 0.00 0.000 4 0.000 0.061 2924 581 1056

8180 1.63 454.4 49.3 12.5 764 8187 0.00 2.42 0.00 0.000 6 0.000 0.033 2924 1996 1055

8378 1.63 454.4 28.5 10.2 783 8382 0.00 2.60 0.00 0.000 4 0.000 0.061 2924 583 1055

8406 1.63 454.4 25.6 10.7 785 8410 0.00 2.42 0.00 0.000 6 0.000 0.032 2924 2003 1055

8613 1.65 475.3 5.8 9.4 816 8632 0.00 0.00 17.48 0.533 6 0.000 0.000 2924 2003 979

8648 end climb: SURFACE_DEPTH_REACHED

state 8648 begin surface coast

8671 end surface coast: CONTROL_FINISHED_OK

state 8672 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	22	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	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	-106804.48	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	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	185106,2152.426,-15940.457,11,1.4,27,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	5	KALMAN_CONTROL	0.164,-0.282
_XMS_TOUTs	0	KALMAN_X	-24331.2,740.6,7.6,29932.2,-2276.7
_SM_DEPTHo	1.22	KALMAN_Y	5758.0,-415.0,112.3,-11518.2,688.4
_SM_ANGLEo	-53.4	MHEAD_RNG_PITCHd_Wd	140.1,4076,-13.9,-10.000
GPS2	190032,2152.437,-15940.612,15,1.1,15,9.8	D_GRID	450
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.5,1.009678	MM_CLLLayer	0.03
SM_CCo	8753,0.00,0.000,0,0,975,476.37	MM_CfgFile	0.30
SM_GC	1.12,11.02,0.00,0.00,0.030,0.000,0.000,410,1885,975,-9.81,-0.54,476.37	_24V_AH	23.8,9.854
IRIDIUM_FIX	2143.45,-15940.77,251098,161640	_10V_AH	10.1,4.223
TT8_MAMPS	0.057525	DATA_FILE_SIZE	25261,826
HUMID	1944	CAP_FILE_SIZE	89786,0
INTERNAL_PRESSURE	7.50029	CFSIZE	260165632,254914560
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	310709,212832,2151.392,-15940.675,21,2.3,40,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	194	118.23	SBE_CT	571	24	326.57
Roll_motor	75	78	140.90	nil	0	0	0.00
VBD_pump_during_apogee	623	876	13001.51	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	24	103	60.63	nil	0	0	0.00
Iridium_during_connect	32	160	123.92	GUMSTIX	118	1000	2822.85
Iridium_during_xfer	353	223	1874.83
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	60	1000	1439.71
GPS	15	50	7.97
TT8	1495	18	271.97
LPSleep	5072	0	19.98
TT8_Active	666	18	121.14
TT8_Sampling	1427	38	547.98
TT8_CF8	660	44	293.35
TT8_Kalman	33	80	26.93
Analog_circuits	1461	12	177.14
GPS_charging	0	0	0.00
Compass	1377	8	111.34
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
15	-1.37	-243.3	0.0	0.0	0	109	0.00	0.00	-90.50	0.000	2	0.000	0.000	405	1897	3214
113	-1.37	-243.3	3.1	-5.1	15	140	11.48	0.00	-12.55	0.000	6	0.194	0.000	2249	1897	3912
207	-1.37	-243.3	23.7	-16.9	29	208	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	1897	3914
398	-1.37	-243.3	52.4	-14.0	47	402	0.00	2.53	0.00	0.000	4	0.000	0.061	2249	508	3914
441	-1.37	-243.3	58.3	-13.0	50	448	0.00	2.38	0.00	0.000	6	0.000	0.031	2250	1909	3914
766	-1.37	-243.3	100.6	-12.7	81	770	0.00	2.45	0.00	0.000	4	0.000	0.051	2249	3296	3916
809	-1.37	-243.3	107.1	-14.9	84	817	0.00	2.38	0.00	0.000	6	0.000	0.035	2249	1911	3916
1136	-1.37	-243.3	151.2	-12.2	115	1140	0.00	2.47	0.00	0.000	4	0.000	0.051	2249	3299	3916
1157	-1.37	-243.3	154.3	-12.9	116	1164	0.00	2.40	0.00	0.000	6	0.000	0.035	2249	1904	3917
1484	-1.37	-243.3	194.6	-12.4	147	1485	0.00	0.00	0.00	0.000	6	0.000	0.000	2250	1904	3917
1800	-1.37	-243.3	236.6	-11.1	177	1804	0.00	2.50	0.00	0.000	4	0.000	0.054	2249	3296	3917
1862	-1.37	-243.3	243.9	-12.4	182	1866	0.00	2.40	0.00	0.000	6	0.000	0.039	2250	1906	3917
2195	-1.37	-243.3	277.8	-9.0	213	2200	0.00	2.62	0.00	0.000	4	0.000	0.073	2249	496	3918
2247	-1.37	-243.3	282.7	-9.3	217	2251	0.00	2.42	0.00	0.000	6	0.000	0.037	2249	1902	3917
2573	-1.37	-243.3	312.2	-9.1	247	2577	0.00	2.55	0.00	0.000	4	0.000	0.061	2250	3310	3916
2635	-1.37	-243.3	318.3	-9.6	252	2639	0.00	2.47	0.00	0.000	6	0.000	0.042	2249	1899	3916
2962	-1.37	-243.3	352.0	-9.9	282	2966	0.00	2.58	0.00	0.000	4	0.000	0.061	2249	3310	3913
3005	-1.37	-243.3	357.0	-10.7	285	3012	0.00	2.47	0.00	0.000	6	0.000	0.043	2249	1904	3913
3332	-1.37	-243.3	392.0	-10.9	316	3333	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	1904	3910
3649	-1.37	-243.3	424.6	-10.5	346	3650	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	1903	3907
3880	end dive: TARGET_DEPTH_EXCEEDED
state	3880	begin apogee
3886	-0.38	0.0	450.4	11.3	368	4104	1.05	0.00	207.82	0.877	6	0.099	0.000	2462	1993	2916
4105	end apogee: CONTROL_FINISHED_OK
state	4105	begin climb
4107	1.37	243.3	462.5	0.0	390	4330	1.83	2.65	210.18	0.848	4	0.065	0.066	2851	3390	1924
4398	1.46	319.5	447.9	7.9	415	4477	0.00	2.53	68.47	0.827	6	0.000	0.044	2850	1983	1613
4795	1.48	333.9	413.5	9.6	452	4815	0.10	0.00	12.98	0.768	6	0.061	0.000	2881	1983	1555
5133	1.48	333.9	374.5	11.6	484	5137	0.00	2.65	0.00	0.000	4	0.000	0.078	2882	586	1550
5172	1.48	333.9	369.6	13.2	487	5177	0.00	2.47	0.00	0.000	6	0.000	0.043	2881	1988	1550
5498	1.48	333.9	331.1	11.7	517	5503	0.00	2.60	0.00	0.000	4	0.000	0.068	2881	3389	1548
5538	1.48	333.9	326.0	12.9	520	5542	0.00	2.50	0.00	0.000	6	0.000	0.045	2881	1986	1547
5864	1.49	343.6	289.5	9.7	550	5875	0.00	0.00	8.65	0.718	6	0.000	0.000	2881	1986	1516
6193	1.49	343.6	257.0	10.5	581	6197	0.00	2.62	0.00	0.000	4	0.000	0.075	2882	586	1513
6247	1.49	343.6	250.7	10.7	585	6254	0.00	2.47	0.00	0.000	6	0.000	0.041	2882	1996	1512
6574	1.49	343.6	218.1	10.2	616	6578	0.00	2.55	0.00	0.000	4	0.000	0.064	2881	3388	1511
6658	1.49	343.6	209.3	10.5	623	6662	0.00	2.47	0.00	0.000	6	0.000	0.042	2882	1986	1511
6984	1.57	405.3	179.9	8.3	653	7045	0.00	2.67	54.65	0.733	4	0.000	0.070	2881	582	1264
7090	1.57	405.3	169.3	11.0	662	7097	0.00	2.47	0.00	0.000	6	0.000	0.038	2882	1992	1260
7417	1.63	454.4	140.0	8.6	693	7466	0.12	0.00	42.90	0.683	6	0.048	0.000	2926	1996	1063
7784	1.63	454.4	96.1	12.7	728	7785	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	1996	1057
8102	1.63	454.4	59.3	12.1	758	8107	0.00	2.60	0.00	0.000	4	0.000	0.061	2924	581	1056
8180	1.63	454.4	49.3	12.5	764	8187	0.00	2.42	0.00	0.000	6	0.000	0.033	2924	1996	1055
8378	1.63	454.4	28.5	10.2	783	8382	0.00	2.60	0.00	0.000	4	0.000	0.061	2924	583	1055
8406	1.63	454.4	25.6	10.7	785	8410	0.00	2.42	0.00	0.000	6	0.000	0.032	2924	2003	1055
8613	1.65	475.3	5.8	9.4	816	8632	0.00	0.00	17.48	0.533	6	0.000	0.000	2924	2003	979
8648	end climb: SURFACE_DEPTH_REACHED
state	8648	begin surface coast
8671	end surface coast: CONTROL_FINISHED_OK
state	8672	begin surface