Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 24 * 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 24 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 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 -106829.98 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 -106829.98

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 45 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 24 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 001001,2150.443,-15941.280,41,1.9,41,9.8 TGT_LATLONG 2154.000,-15942.000

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.106,0.308

_XMS_TOUTs 0 KALMAN_X -26540.2,-1066.6,69.6,32442.8,-1437.5

_SM_DEPTHo 1.15 KALMAN_Y 6624.4,485.1,22.0,-16693.8,517.6

_SM_ANGLEo -50.6 MHEAD_RNG_PITCHd_Wd 9.2,6464,-13.9,-10.000

GPS2 001837,2150.546,-15941.454,11,1.7,11,9.8 D_GRID 450

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T0

Post-dive calculations and measurements:

FINISH 0.4,1.022527 MM_CLLLayer 0.03

SM_CCo 8744,0.00,0.000,0,0,738,534.51 MM_CfgFile 0.30

SM_GC 1.12,11.00,0.00,0.00,0.030,0.000,0.000,406,1888,738,-9.81,-0.42,534.51 _24V_AH 23.8,10.243

IRIDIUM_FIX 2143.45,-16008.75,251098,212150 _10V_AH 10.1,4.386

TT8_MAMPS 0.062127 DATA_FILE_SIZE 25257,825

HUMID 1919 CAP_FILE_SIZE 86524,0

INTERNAL_PRESSURE 7.50029 CFSIZE 260165632,254734336

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 010809,024625,2152.212,-15941.571,38,1.3,38,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 194 117.89 SBE_CT 570 24 325.89

Roll_motor 70 79 133.03 nil 0 0 0.00

VBD_pump_during_apogee 675 875 14066.53 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 27 103 67.25 nil 0 0 0.00

Iridium_during_connect 29 160 113.99 GUMSTIX 112 1000 2681.59

Iridium_during_xfer 312 223 1661.10

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 60 1000 1430.21

GPS 11 50 6.05

TT8 1475 18 268.30

LPSleep 5047 0 19.88

TT8_Active 706 18 128.44

TT8_Sampling 1413 38 542.38

TT8_CF8 621 44 276.14

TT8_Kalman 33 80 26.94

Analog_circuits 1499 12 181.69

GPS_charging 0 0 0.00

Compass 1370 8 110.70

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 -1.37 -243.3 0.0 0.0 0 118 0.00 0.00 -96.88 0.000 2 0.000 0.000 405 1930 3293

121 -1.37 -243.3 3.7 -7.7 16 149 11.45 2.42 -10.50 0.000 4 0.194 0.062 2248 3287 3913

275 -1.37 -243.3 36.0 -18.2 34 279 0.00 2.40 0.00 0.000 6 0.000 0.035 2248 1898 3914

472 -1.37 -243.3 68.1 -15.5 52 476 0.00 2.47 0.00 0.000 4 0.000 0.049 2248 3286 3915

522 -1.37 -243.3 75.8 -15.1 56 526 0.00 2.38 0.00 0.000 6 0.000 0.034 2248 1905 3915

847 -1.37 -243.3 120.9 -13.8 86 848 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1904 3917

1166 -1.37 -243.3 165.5 -14.4 116 1170 0.00 2.47 0.00 0.000 4 0.000 0.052 2248 3288 3918

1299 -1.37 -243.3 184.1 -13.4 127 1306 0.00 2.40 0.00 0.000 6 0.000 0.037 2248 1900 3918

1625 -1.37 -243.3 225.3 -12.8 158 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1900 3919

1942 -1.37 -243.3 262.9 -12.0 188 1944 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1899 3918

2263 -1.37 -243.3 297.7 -10.6 218 2267 0.00 2.53 0.00 0.000 4 0.000 0.060 2248 3291 3918

2313 -1.37 -243.3 303.1 -10.3 222 2318 0.00 2.42 0.00 0.000 6 0.000 0.041 2248 1904 3918

2640 -1.37 -243.3 337.7 -10.9 252 2641 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 1904 3917

2957 -1.37 -243.3 370.4 -9.4 282 2961 0.00 2.62 0.00 0.000 4 0.000 0.077 2249 504 3915

3001 -1.37 -243.3 374.6 -9.1 285 3008 0.00 2.40 0.00 0.000 6 0.000 0.038 2248 1889 3915

3328 -1.37 -243.3 405.6 -9.7 316 3332 0.00 2.60 0.00 0.000 4 0.000 0.065 2248 3305 3911

3412 -1.37 -243.3 414.2 -10.3 323 3416 0.00 2.47 0.00 0.000 6 0.000 0.045 2248 1905 3912

3738 -1.37 -243.3 446.0 -9.4 353 3743 0.00 2.65 0.00 0.000 4 0.000 0.079 2248 497 3909

3776 end dive: TARGET_DEPTH_EXCEEDED

state 3776 begin apogee

3784 -0.38 0.0 450.1 10.1 356 4002 1.05 0.00 208.27 0.875 6 0.092 0.000 2463 1997 2916

4003 end apogee: CONTROL_FINISHED_OK

state 4003 begin climb

4005 1.37 243.3 459.1 0.0 378 4228 1.80 2.62 210.48 0.844 4 0.063 0.070 2849 3385 1925

4244 1.47 323.7 447.0 7.8 399 4323 0.10 2.53 72.45 0.820 6 0.056 0.045 2879 1986 1597

4648 1.47 325.1 407.4 10.0 437 4653 0.00 2.65 0.00 0.000 4 0.000 0.077 2880 587 1588

4699 1.47 325.1 401.9 11.4 441 4704 0.00 2.50 0.00 0.000 6 0.000 0.044 2880 1996 1587

5025 1.47 325.1 368.7 10.6 471 5030 0.00 2.60 0.00 0.000 4 0.000 0.071 2880 3389 1585

5080 1.47 325.1 362.2 11.4 475 5088 0.00 2.50 0.00 0.000 6 0.000 0.046 2880 1991 1584

5407 1.47 325.1 324.6 12.0 506 5412 0.00 2.65 0.00 0.000 4 0.000 0.076 2880 585 1583

5447 1.47 325.1 319.6 12.4 509 5451 0.00 2.47 0.00 0.000 6 0.000 0.042 2880 1993 1582

5773 1.47 325.1 284.2 10.2 539 5777 0.00 2.58 0.00 0.000 4 0.000 0.066 2879 3385 1581

5812 1.47 325.1 279.6 11.3 542 5817 0.00 2.47 0.00 0.000 6 0.000 0.044 2880 1990 1581

6139 1.50 348.5 249.4 9.4 572 6162 0.00 0.00 20.10 0.769 6 0.000 0.000 2879 1990 1496

6481 1.53 374.6 214.6 9.3 604 6510 0.00 0.00 24.20 0.746 6 0.000 0.000 2879 1990 1389

6830 1.55 394.1 181.9 9.5 637 6850 0.00 0.00 17.73 0.704 6 0.000 0.000 2880 1990 1310

7169 1.60 429.2 151.2 9.0 669 7203 0.00 0.00 31.52 0.690 6 0.000 0.000 2880 1990 1167

7521 1.64 461.1 120.1 9.1 702 7553 0.12 0.00 28.17 0.647 6 0.047 0.000 2923 1990 1037

7869 1.64 461.1 76.5 12.6 735 7874 0.00 2.58 0.00 0.000 4 0.000 0.064 2923 585 1032

7898 1.64 461.1 72.9 13.2 737 7902 0.00 2.42 0.00 0.000 6 0.000 0.033 2923 2001 1031

8224 1.68 497.2 40.7 9.0 767 8262 0.00 2.67 30.83 0.570 4 0.000 0.060 2923 586 890

8274 1.74 544.0 36.1 8.7 771 8315 0.00 2.42 31.60 0.550 6 0.000 0.032 2923 1990 744

8510 1.81 598.9 14.2 8.5 798 8516 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1990 741

8584 1.81 598.9 6.8 10.1 811 8590 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1990 741

8639 end climb: SURFACE_DEPTH_REACHED

state 8639 begin surface coast

8663 end surface coast: CONTROL_FINISHED_OK

state 8663 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	24	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	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	-106829.98	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	001001,2150.443,-15941.280,41,1.9,41,9.8	TGT_LATLONG	2154.000,-15942.000
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.106,0.308
_XMS_TOUTs	0	KALMAN_X	-26540.2,-1066.6,69.6,32442.8,-1437.5
_SM_DEPTHo	1.15	KALMAN_Y	6624.4,485.1,22.0,-16693.8,517.6
_SM_ANGLEo	-50.6	MHEAD_RNG_PITCHd_Wd	9.2,6464,-13.9,-10.000
GPS2	001837,2150.546,-15941.454,11,1.7,11,9.8	D_GRID	450
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T0

FINISH	0.4,1.022527	MM_CLLLayer	0.03
SM_CCo	8744,0.00,0.000,0,0,738,534.51	MM_CfgFile	0.30
SM_GC	1.12,11.00,0.00,0.00,0.030,0.000,0.000,406,1888,738,-9.81,-0.42,534.51	_24V_AH	23.8,10.243
IRIDIUM_FIX	2143.45,-16008.75,251098,212150	_10V_AH	10.1,4.386
TT8_MAMPS	0.062127	DATA_FILE_SIZE	25257,825
HUMID	1919	CAP_FILE_SIZE	86524,0
INTERNAL_PRESSURE	7.50029	CFSIZE	260165632,254734336
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	010809,024625,2152.212,-15941.571,38,1.3,38,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	194	117.89	SBE_CT	570	24	325.89
Roll_motor	70	79	133.03	nil	0	0	0.00
VBD_pump_during_apogee	675	875	14066.53	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	27	103	67.25	nil	0	0	0.00
Iridium_during_connect	29	160	113.99	GUMSTIX	112	1000	2681.59
Iridium_during_xfer	312	223	1661.10
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	60	1000	1430.21
GPS	11	50	6.05
TT8	1475	18	268.30
LPSleep	5047	0	19.88
TT8_Active	706	18	128.44
TT8_Sampling	1413	38	542.38
TT8_CF8	621	44	276.14
TT8_Kalman	33	80	26.94
Analog_circuits	1499	12	181.69
GPS_charging	0	0	0.00
Compass	1370	8	110.70
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	-1.37	-243.3	0.0	0.0	0	118	0.00	0.00	-96.88	0.000	2	0.000	0.000	405	1930	3293
121	-1.37	-243.3	3.7	-7.7	16	149	11.45	2.42	-10.50	0.000	4	0.194	0.062	2248	3287	3913
275	-1.37	-243.3	36.0	-18.2	34	279	0.00	2.40	0.00	0.000	6	0.000	0.035	2248	1898	3914
472	-1.37	-243.3	68.1	-15.5	52	476	0.00	2.47	0.00	0.000	4	0.000	0.049	2248	3286	3915
522	-1.37	-243.3	75.8	-15.1	56	526	0.00	2.38	0.00	0.000	6	0.000	0.034	2248	1905	3915
847	-1.37	-243.3	120.9	-13.8	86	848	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1904	3917
1166	-1.37	-243.3	165.5	-14.4	116	1170	0.00	2.47	0.00	0.000	4	0.000	0.052	2248	3288	3918
1299	-1.37	-243.3	184.1	-13.4	127	1306	0.00	2.40	0.00	0.000	6	0.000	0.037	2248	1900	3918
1625	-1.37	-243.3	225.3	-12.8	158	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1900	3919
1942	-1.37	-243.3	262.9	-12.0	188	1944	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1899	3918
2263	-1.37	-243.3	297.7	-10.6	218	2267	0.00	2.53	0.00	0.000	4	0.000	0.060	2248	3291	3918
2313	-1.37	-243.3	303.1	-10.3	222	2318	0.00	2.42	0.00	0.000	6	0.000	0.041	2248	1904	3918
2640	-1.37	-243.3	337.7	-10.9	252	2641	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	1904	3917
2957	-1.37	-243.3	370.4	-9.4	282	2961	0.00	2.62	0.00	0.000	4	0.000	0.077	2249	504	3915
3001	-1.37	-243.3	374.6	-9.1	285	3008	0.00	2.40	0.00	0.000	6	0.000	0.038	2248	1889	3915
3328	-1.37	-243.3	405.6	-9.7	316	3332	0.00	2.60	0.00	0.000	4	0.000	0.065	2248	3305	3911
3412	-1.37	-243.3	414.2	-10.3	323	3416	0.00	2.47	0.00	0.000	6	0.000	0.045	2248	1905	3912
3738	-1.37	-243.3	446.0	-9.4	353	3743	0.00	2.65	0.00	0.000	4	0.000	0.079	2248	497	3909
3776	end dive: TARGET_DEPTH_EXCEEDED
state	3776	begin apogee
3784	-0.38	0.0	450.1	10.1	356	4002	1.05	0.00	208.27	0.875	6	0.092	0.000	2463	1997	2916
4003	end apogee: CONTROL_FINISHED_OK
state	4003	begin climb
4005	1.37	243.3	459.1	0.0	378	4228	1.80	2.62	210.48	0.844	4	0.063	0.070	2849	3385	1925
4244	1.47	323.7	447.0	7.8	399	4323	0.10	2.53	72.45	0.820	6	0.056	0.045	2879	1986	1597
4648	1.47	325.1	407.4	10.0	437	4653	0.00	2.65	0.00	0.000	4	0.000	0.077	2880	587	1588
4699	1.47	325.1	401.9	11.4	441	4704	0.00	2.50	0.00	0.000	6	0.000	0.044	2880	1996	1587
5025	1.47	325.1	368.7	10.6	471	5030	0.00	2.60	0.00	0.000	4	0.000	0.071	2880	3389	1585
5080	1.47	325.1	362.2	11.4	475	5088	0.00	2.50	0.00	0.000	6	0.000	0.046	2880	1991	1584
5407	1.47	325.1	324.6	12.0	506	5412	0.00	2.65	0.00	0.000	4	0.000	0.076	2880	585	1583
5447	1.47	325.1	319.6	12.4	509	5451	0.00	2.47	0.00	0.000	6	0.000	0.042	2880	1993	1582
5773	1.47	325.1	284.2	10.2	539	5777	0.00	2.58	0.00	0.000	4	0.000	0.066	2879	3385	1581
5812	1.47	325.1	279.6	11.3	542	5817	0.00	2.47	0.00	0.000	6	0.000	0.044	2880	1990	1581
6139	1.50	348.5	249.4	9.4	572	6162	0.00	0.00	20.10	0.769	6	0.000	0.000	2879	1990	1496
6481	1.53	374.6	214.6	9.3	604	6510	0.00	0.00	24.20	0.746	6	0.000	0.000	2879	1990	1389
6830	1.55	394.1	181.9	9.5	637	6850	0.00	0.00	17.73	0.704	6	0.000	0.000	2880	1990	1310
7169	1.60	429.2	151.2	9.0	669	7203	0.00	0.00	31.52	0.690	6	0.000	0.000	2880	1990	1167
7521	1.64	461.1	120.1	9.1	702	7553	0.12	0.00	28.17	0.647	6	0.047	0.000	2923	1990	1037
7869	1.64	461.1	76.5	12.6	735	7874	0.00	2.58	0.00	0.000	4	0.000	0.064	2923	585	1032
7898	1.64	461.1	72.9	13.2	737	7902	0.00	2.42	0.00	0.000	6	0.000	0.033	2923	2001	1031
8224	1.68	497.2	40.7	9.0	767	8262	0.00	2.67	30.83	0.570	4	0.000	0.060	2923	586	890
8274	1.74	544.0	36.1	8.7	771	8315	0.00	2.42	31.60	0.550	6	0.000	0.032	2923	1990	744
8510	1.81	598.9	14.2	8.5	798	8516	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1990	741
8584	1.81	598.9	6.8	10.1	811	8590	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1990	741
8639	end climb: SURFACE_DEPTH_REACHED
state	8639	begin surface coast
8663	end surface coast: CONTROL_FINISHED_OK
state	8663	begin surface