Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 23 * 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 23 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -106817.37 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 -106817.37

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 38 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 23 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 212832,2151.392,-15940.675,21,2.3,40,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 4 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.116,-0.292

_XMS_TOUTs 0 KALMAN_X -25529.7,-243.6,41.3,31399.5,-1988.2

_SM_DEPTHo 1.24 KALMAN_Y 6142.0,1.8,100.4,-14059.1,650.1

_SM_ANGLEo -53.1 MHEAD_RNG_PITCHd_Wd 148.5,2193,-14.5,-10.000

GPS2 214432,2151.489,-15941.011,12,1.3,12,9.8 D_GRID 450

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.4,1.022986 MM_CLLLayer 0.03

SM_CCo 8601,0.00,0.000,0,0,741,533.77 MM_CfgFile 0.30

SM_GC 1.12,11.12,0.00,0.00,0.030,0.000,0.000,406,1930,741,-9.82,0.71,533.77 _24V_AH 23.8,10.053

IRIDIUM_FIX 2143.45,-15943.76,251098,212131 _10V_AH 10.1,4.307

TT8_MAMPS 0.0767 DATA_FILE_SIZE 25269,808

HUMID 1913 CAP_FILE_SIZE 93295,0

INTERNAL_PRESSURE 7.49052 CFSIZE 260165632,254824448

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 010809,001001,2150.443,-15941.280,41,1.9,41,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 195 120.10 SBE_CT 559 24 319.41

Roll_motor 90 78 169.25 nil 0 0 0.00

VBD_pump_during_apogee 671 874 13964.71 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 158 103 389.62 nil 0 0 0.00

Iridium_during_connect 84 160 322.43 GUMSTIX 116 1000 2766.25

Iridium_during_xfer 385 223 2046.50

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 61 1000 1475.36

GPS 12 50 6.19

TT8 1455 18 264.63

LPSleep 5094 0 20.07

TT8_Active 710 18 129.23

TT8_Sampling 1417 38 544.02

TT8_CF8 887 44 394.41

TT8_Kalman 33 80 26.93

Analog_circuits 1519 12 184.19

GPS_charging 0 0 0.00

Compass 1375 8 111.17

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 -1.39 -224.1 0.0 0.0 0 105 0.00 0.00 -85.10 0.000 2 0.000 0.000 410 1886 3236

108 -1.42 -243.3 3.5 -7.0 14 141 11.45 2.55 -11.95 0.000 4 0.196 0.072 2236 511 3913

203 -1.42 -243.3 24.7 -17.9 28 208 0.00 2.38 0.00 0.000 6 0.000 0.031 2236 1910 3914

401 -1.42 -243.3 56.5 -15.1 46 402 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 1911 3914

719 -1.42 -243.3 106.2 -15.7 76 724 0.00 2.55 0.00 0.000 4 0.000 0.061 2236 510 3916

781 -1.42 -243.3 116.0 -16.1 81 786 0.00 2.38 0.00 0.000 6 0.000 0.032 2236 1909 3916

1108 -1.42 -243.3 158.0 -12.8 111 1112 0.00 2.55 0.00 0.000 4 0.000 0.063 2236 512 3917

1140 -1.42 -243.3 162.7 -13.6 113 1147 0.00 2.38 0.00 0.000 6 0.000 0.032 2236 1906 3917

1466 -1.42 -243.3 205.7 -14.0 144 1468 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 1909 3917

1784 -1.42 -243.3 245.7 -11.6 174 1788 0.00 2.53 0.00 0.000 4 0.000 0.058 2236 3308 3917

1868 -1.42 -243.3 255.8 -11.9 181 1872 0.00 2.42 0.00 0.000 6 0.000 0.039 2236 1915 3917

2201 -1.42 -243.3 293.8 -12.6 212 2207 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 1915 3916

2526 -1.42 -243.3 330.4 -10.4 243 2530 0.00 2.53 0.00 0.000 4 0.000 0.061 2236 3298 3915

2564 -1.42 -243.3 334.6 -10.4 246 2571 0.00 2.45 0.00 0.000 6 0.000 0.042 2236 1903 3915

2891 -1.42 -243.3 368.3 -10.4 277 2895 0.00 2.55 0.00 0.000 4 0.000 0.061 2236 3299 3911

2968 -1.42 -243.3 376.9 -10.5 283 2975 0.00 2.45 0.00 0.000 6 0.000 0.044 2236 1906 3911

3295 -1.42 -243.3 410.0 -10.0 314 3299 0.00 2.65 0.00 0.000 4 0.000 0.078 2236 500 3908

3338 -1.42 -243.3 414.9 -10.3 317 3345 0.00 2.45 0.00 0.000 6 0.000 0.040 2236 1902 3907

3665 -1.42 -243.3 448.6 -10.6 348 3669 0.00 2.62 0.00 0.000 4 0.000 0.075 2236 504 3905

3679 end dive: TARGET_DEPTH_EXCEEDED

state 3679 begin apogee

3687 -0.38 0.0 450.6 10.6 349 3905 1.12 0.00 207.25 0.874 6 0.097 0.000 2462 2007 2917

3906 end apogee: CONTROL_FINISHED_OK

state 3906 begin climb

3909 1.42 243.3 460.8 0.0 371 4130 1.85 2.62 209.88 0.848 4 0.064 0.068 2856 3388 1924

4225 1.49 301.3 443.1 8.3 398 4283 0.00 2.53 52.12 0.822 6 0.000 0.045 2856 1982 1688

4602 1.56 359.4 411.2 8.3 433 4661 0.15 2.75 52.45 0.827 4 0.047 0.076 2897 586 1451

4688 1.56 359.4 401.5 13.0 440 4695 0.00 2.50 0.00 0.000 6 0.000 0.043 2897 1988 1448

5015 1.56 359.4 360.2 12.5 471 5019 0.00 2.65 0.00 0.000 4 0.000 0.072 2897 588 1442

5047 1.56 359.4 355.7 12.5 473 5054 0.00 2.50 0.00 0.000 6 0.000 0.042 2897 2001 1442

5374 1.56 359.4 317.7 11.8 504 5378 0.00 2.58 0.00 0.000 4 0.000 0.070 2898 3388 1440

5440 1.56 359.4 309.3 12.0 509 5447 0.00 2.50 0.00 0.000 6 0.000 0.044 2897 1985 1439

5766 1.57 369.4 274.6 9.7 540 5779 0.00 2.65 7.80 0.693 4 0.000 0.074 2897 582 1411

5825 1.57 369.4 268.6 10.2 545 5830 0.00 2.50 0.00 0.000 6 0.000 0.041 2897 2003 1410

6151 1.57 369.4 237.6 10.8 575 6153 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 2008 1407

6468 1.57 369.4 205.1 10.7 605 6473 0.00 2.53 0.00 0.000 4 0.000 0.062 2897 3386 1406

6497 1.57 369.4 202.0 11.7 607 6501 0.00 2.47 0.00 0.000 6 0.000 0.041 2897 1982 1406

6823 1.57 369.4 166.1 10.8 637 6824 0.00 0.00 0.00 0.000 6 0.000 0.000 2898 1983 1405

7140 1.57 369.4 134.4 10.6 667 7144 0.00 2.58 0.00 0.000 4 0.000 0.066 2898 580 1404

7239 1.57 369.4 122.9 12.0 675 7247 0.00 2.45 0.00 0.000 6 0.000 0.035 2897 2007 1404

7566 1.61 395.7 91.7 9.2 706 7595 0.00 0.00 23.35 0.637 6 0.000 0.000 2898 2008 1303

7915 1.70 470.3 59.8 7.8 739 7987 0.10 2.67 64.55 0.601 4 0.051 0.059 2935 591 999

8095 1.70 470.3 40.8 10.3 755 8099 0.00 2.40 0.00 0.000 6 0.000 0.032 2935 1993 994

8298 1.72 486.7 22.4 9.5 774 8321 0.00 2.58 14.35 0.529 4 0.000 0.055 2935 3384 931

8374 1.72 486.7 15.0 10.0 784 8381 0.00 2.42 0.00 0.000 6 0.000 0.035 2935 1988 930

8449 1.78 539.9 7.2 8.4 797 8495 0.00 2.60 39.30 0.533 4 0.000 0.063 2935 581 745

8499 end climb: SURFACE_DEPTH_REACHED

state 8499 begin surface coast

8517 end surface coast: CONTROL_FINISHED_OK

state 8517 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	23	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-106817.37	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	212832,2151.392,-15940.675,21,2.3,40,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	4	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.116,-0.292
_XMS_TOUTs	0	KALMAN_X	-25529.7,-243.6,41.3,31399.5,-1988.2
_SM_DEPTHo	1.24	KALMAN_Y	6142.0,1.8,100.4,-14059.1,650.1
_SM_ANGLEo	-53.1	MHEAD_RNG_PITCHd_Wd	148.5,2193,-14.5,-10.000
GPS2	214432,2151.489,-15941.011,12,1.3,12,9.8	D_GRID	450
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.4,1.022986	MM_CLLLayer	0.03
SM_CCo	8601,0.00,0.000,0,0,741,533.77	MM_CfgFile	0.30
SM_GC	1.12,11.12,0.00,0.00,0.030,0.000,0.000,406,1930,741,-9.82,0.71,533.77	_24V_AH	23.8,10.053
IRIDIUM_FIX	2143.45,-15943.76,251098,212131	_10V_AH	10.1,4.307
TT8_MAMPS	0.0767	DATA_FILE_SIZE	25269,808
HUMID	1913	CAP_FILE_SIZE	93295,0
INTERNAL_PRESSURE	7.49052	CFSIZE	260165632,254824448
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	010809,001001,2150.443,-15941.280,41,1.9,41,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	195	120.10	SBE_CT	559	24	319.41
Roll_motor	90	78	169.25	nil	0	0	0.00
VBD_pump_during_apogee	671	874	13964.71	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	158	103	389.62	nil	0	0	0.00
Iridium_during_connect	84	160	322.43	GUMSTIX	116	1000	2766.25
Iridium_during_xfer	385	223	2046.50
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	61	1000	1475.36
GPS	12	50	6.19
TT8	1455	18	264.63
LPSleep	5094	0	20.07
TT8_Active	710	18	129.23
TT8_Sampling	1417	38	544.02
TT8_CF8	887	44	394.41
TT8_Kalman	33	80	26.93
Analog_circuits	1519	12	184.19
GPS_charging	0	0	0.00
Compass	1375	8	111.17
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	-1.39	-224.1	0.0	0.0	0	105	0.00	0.00	-85.10	0.000	2	0.000	0.000	410	1886	3236
108	-1.42	-243.3	3.5	-7.0	14	141	11.45	2.55	-11.95	0.000	4	0.196	0.072	2236	511	3913
203	-1.42	-243.3	24.7	-17.9	28	208	0.00	2.38	0.00	0.000	6	0.000	0.031	2236	1910	3914
401	-1.42	-243.3	56.5	-15.1	46	402	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	1911	3914
719	-1.42	-243.3	106.2	-15.7	76	724	0.00	2.55	0.00	0.000	4	0.000	0.061	2236	510	3916
781	-1.42	-243.3	116.0	-16.1	81	786	0.00	2.38	0.00	0.000	6	0.000	0.032	2236	1909	3916
1108	-1.42	-243.3	158.0	-12.8	111	1112	0.00	2.55	0.00	0.000	4	0.000	0.063	2236	512	3917
1140	-1.42	-243.3	162.7	-13.6	113	1147	0.00	2.38	0.00	0.000	6	0.000	0.032	2236	1906	3917
1466	-1.42	-243.3	205.7	-14.0	144	1468	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	1909	3917
1784	-1.42	-243.3	245.7	-11.6	174	1788	0.00	2.53	0.00	0.000	4	0.000	0.058	2236	3308	3917
1868	-1.42	-243.3	255.8	-11.9	181	1872	0.00	2.42	0.00	0.000	6	0.000	0.039	2236	1915	3917
2201	-1.42	-243.3	293.8	-12.6	212	2207	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	1915	3916
2526	-1.42	-243.3	330.4	-10.4	243	2530	0.00	2.53	0.00	0.000	4	0.000	0.061	2236	3298	3915
2564	-1.42	-243.3	334.6	-10.4	246	2571	0.00	2.45	0.00	0.000	6	0.000	0.042	2236	1903	3915
2891	-1.42	-243.3	368.3	-10.4	277	2895	0.00	2.55	0.00	0.000	4	0.000	0.061	2236	3299	3911
2968	-1.42	-243.3	376.9	-10.5	283	2975	0.00	2.45	0.00	0.000	6	0.000	0.044	2236	1906	3911
3295	-1.42	-243.3	410.0	-10.0	314	3299	0.00	2.65	0.00	0.000	4	0.000	0.078	2236	500	3908
3338	-1.42	-243.3	414.9	-10.3	317	3345	0.00	2.45	0.00	0.000	6	0.000	0.040	2236	1902	3907
3665	-1.42	-243.3	448.6	-10.6	348	3669	0.00	2.62	0.00	0.000	4	0.000	0.075	2236	504	3905
3679	end dive: TARGET_DEPTH_EXCEEDED
state	3679	begin apogee
3687	-0.38	0.0	450.6	10.6	349	3905	1.12	0.00	207.25	0.874	6	0.097	0.000	2462	2007	2917
3906	end apogee: CONTROL_FINISHED_OK
state	3906	begin climb
3909	1.42	243.3	460.8	0.0	371	4130	1.85	2.62	209.88	0.848	4	0.064	0.068	2856	3388	1924
4225	1.49	301.3	443.1	8.3	398	4283	0.00	2.53	52.12	0.822	6	0.000	0.045	2856	1982	1688
4602	1.56	359.4	411.2	8.3	433	4661	0.15	2.75	52.45	0.827	4	0.047	0.076	2897	586	1451
4688	1.56	359.4	401.5	13.0	440	4695	0.00	2.50	0.00	0.000	6	0.000	0.043	2897	1988	1448
5015	1.56	359.4	360.2	12.5	471	5019	0.00	2.65	0.00	0.000	4	0.000	0.072	2897	588	1442
5047	1.56	359.4	355.7	12.5	473	5054	0.00	2.50	0.00	0.000	6	0.000	0.042	2897	2001	1442
5374	1.56	359.4	317.7	11.8	504	5378	0.00	2.58	0.00	0.000	4	0.000	0.070	2898	3388	1440
5440	1.56	359.4	309.3	12.0	509	5447	0.00	2.50	0.00	0.000	6	0.000	0.044	2897	1985	1439
5766	1.57	369.4	274.6	9.7	540	5779	0.00	2.65	7.80	0.693	4	0.000	0.074	2897	582	1411
5825	1.57	369.4	268.6	10.2	545	5830	0.00	2.50	0.00	0.000	6	0.000	0.041	2897	2003	1410
6151	1.57	369.4	237.6	10.8	575	6153	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	2008	1407
6468	1.57	369.4	205.1	10.7	605	6473	0.00	2.53	0.00	0.000	4	0.000	0.062	2897	3386	1406
6497	1.57	369.4	202.0	11.7	607	6501	0.00	2.47	0.00	0.000	6	0.000	0.041	2897	1982	1406
6823	1.57	369.4	166.1	10.8	637	6824	0.00	0.00	0.00	0.000	6	0.000	0.000	2898	1983	1405
7140	1.57	369.4	134.4	10.6	667	7144	0.00	2.58	0.00	0.000	4	0.000	0.066	2898	580	1404
7239	1.57	369.4	122.9	12.0	675	7247	0.00	2.45	0.00	0.000	6	0.000	0.035	2897	2007	1404
7566	1.61	395.7	91.7	9.2	706	7595	0.00	0.00	23.35	0.637	6	0.000	0.000	2898	2008	1303
7915	1.70	470.3	59.8	7.8	739	7987	0.10	2.67	64.55	0.601	4	0.051	0.059	2935	591	999
8095	1.70	470.3	40.8	10.3	755	8099	0.00	2.40	0.00	0.000	6	0.000	0.032	2935	1993	994
8298	1.72	486.7	22.4	9.5	774	8321	0.00	2.58	14.35	0.529	4	0.000	0.055	2935	3384	931
8374	1.72	486.7	15.0	10.0	784	8381	0.00	2.42	0.00	0.000	6	0.000	0.035	2935	1988	930
8449	1.78	539.9	7.2	8.4	797	8495	0.00	2.60	39.30	0.533	4	0.000	0.063	2935	581	745
8499	end climb: SURFACE_DEPTH_REACHED
state	8499	begin surface coast
8517	end surface coast: CONTROL_FINISHED_OK
state	8517	begin surface