Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 22 ESCAPE_HEADING 180 ROLL_MIN 155 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 25 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3900 ALTIM_PING_DEPTH 90

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2475 ALTIM_FREQUENCY 12

D_TGT 450 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2500 ALTIM_PULSE 2

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 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 47 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 770 DEVICE2 -1

T_MISSION 175 CALL_TRIES 5 VBD_MAX 3955 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2936 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 3 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 500 T_GPS_CHARGE -57994.082 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 150 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 132 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3449 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3120 PRESSURE_YINT -0.46644667 SEABIRD_T_G 0.0043738699

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_H 0.00063649943

MASS 51716 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5189185e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7386873e-06

FERRY_MAX 0 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8703537

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1242318

HD_A 0.003 PITCH_AD_RATE 140 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0015997718

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00020779716

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 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 500 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 132 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 90 D_TGT 450 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.46644667 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 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -57994.082

CAPMAXSIZE 100000 HD_C 9.9999997e-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 116 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 UNCOM_BLEED 150

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3120 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2500 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2475 MASS 51716 R_PORT_OVSHOOT 47 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 21 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 22 SEABIRD_C_G -9.8703537 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1242318 VBD_MAX 3955

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0015997718 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00020779716 VBD_MIN 770

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043738699 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063649943 VBD_PUMP_AD_RATE_SURFACE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5189185e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7386873e-06 XPDR_DEVICE -1

DIVE 25 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 144730,2151.154,-15945.175,51,1.0,51,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 4 TGT_RADIUS 1000.000

_XMS_NAKs 6 KALMAN_CONTROL 0.323,-0.027

_XMS_TOUTs 0 KALMAN_X -30515.3,265.1,53.4,24132.3,-2276.3

_SM_DEPTHo 0.89 KALMAN_Y 6071.0,-427.6,101.3,-14833.7,112.3

_SM_ANGLEo -67.8 MHEAD_RNG_PITCHd_Wd 84.9,6911,-13.1,-10.000

GPS2 150619,2151.152,-15945.502,11,1.1,11,9.8 D_GRID 450

SPEED_LIMITS 0.173,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.3,1.022982 MM_CLLLayer 0.03

SM_CCo 9202,12.38,0.502,0,0,1509,350.04 MM_CfgFile 0.30

SM_GC 0.70,0.00,0.00,12.38,0.000,0.000,0.502,134,2509,1509,-13.74,0.96,350.04 _24V_AH 23.8,11.990

IRIDIUM_FIX 2141.13,-15943.76,241098,151544 _10V_AH 10.0,3.325

TT8_MAMPS 0.064428 DATA_FILE_SIZE 28384,864

HUMID 1906 CAP_FILE_SIZE 320499,0

INTERNAL_PRESSURE 11.4165 CFSIZE 260034560,254709760

TCM_TEMP 23.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 300709,174149,2151.141,-15945.020,11,1.6,28,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 182 146.63 SBE_CT 574 24 328.00

Roll_motor 79 78 148.82 nil 0 0 0.00

VBD_pump_during_apogee 723 776 13383.52 nil 0 0 0.00

VBD_pump_during_surface 12 501 147.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 109 103 267.63 nil 0 0 0.00

Iridium_during_connect 120 160 460.07 GUMSTIX 169 1000 4030.43

Iridium_during_xfer 632 223 3355.85

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 67 1000 1603.36

GPS 11 50 5.99

TT8 1653 18 297.69

LPSleep 4976 0 19.41

TT8_Active 732 18 131.93

TT8_Sampling 1557 38 591.67

TT8_CF8 1416 44 623.37

TT8_Kalman 33 80 26.68

Analog_circuits 1627 12 195.25

GPS_charging 0 0 0.00

Compass 1504 8 120.33

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 -1.39 -243.3 0.0 0.0 0 94 0.00 0.00 -73.80 0.000 2 0.000 0.000 133 2497 3351

97 -1.39 -243.3 3.4 -7.7 11 134 16.17 2.50 -8.75 0.000 4 0.183 0.045 2810 1080 3932

211 -1.39 -243.3 31.3 -15.0 24 219 0.00 2.45 0.00 0.000 6 0.000 0.032 2811 2478 3933

409 -1.39 -243.3 58.1 -12.8 43 410 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2479 3935

729 -1.39 -243.3 97.2 -12.1 73 733 0.00 2.55 0.00 0.000 4 0.000 0.064 2811 3876 3935

805 -1.39 -243.3 106.5 -12.0 79 813 0.00 2.38 0.00 0.000 6 0.000 0.028 2810 2469 3935

1131 -1.39 -243.3 142.9 -11.6 110 1135 0.00 2.58 0.00 0.000 4 0.000 0.064 2811 3876 3935

1250 -1.39 -243.3 157.1 -12.3 120 1255 0.00 2.35 0.00 0.000 6 0.000 0.028 2810 2470 3935

1575 -1.39 -243.3 192.2 -10.1 150 1579 0.00 2.40 0.00 0.000 4 0.000 0.038 2810 1076 3935

1606 -1.39 -243.3 195.7 -10.4 152 1614 0.00 2.45 0.00 0.000 6 0.000 0.035 2811 2472 3935

1932 -1.39 -243.3 226.6 -9.0 183 1936 0.00 2.58 0.00 0.000 4 0.000 0.069 2810 3876 3935

2052 -1.39 -243.3 237.5 -9.3 193 2056 0.00 2.35 0.00 0.000 6 0.000 0.030 2810 2479 3935

2377 -1.39 -243.3 266.7 -8.4 223 2381 0.00 2.60 0.00 0.000 4 0.000 0.070 2810 3876 3935

2461 -1.39 -243.3 274.5 -9.2 230 2466 0.00 2.38 0.00 0.000 6 0.000 0.032 2811 2476 3935

2786 -1.39 -243.3 301.4 -7.9 260 2790 0.00 2.62 0.00 0.000 4 0.000 0.072 2810 3883 3931

2885 -1.39 -243.3 309.5 -7.9 268 2893 0.00 2.40 0.00 0.000 6 0.000 0.034 2811 2478 3931

3211 -1.39 -243.3 334.3 -7.5 299 3216 0.00 2.62 0.00 0.000 4 0.000 0.073 2810 3877 3928

3285 -1.39 -243.3 340.6 -9.2 305 3289 0.00 2.40 0.00 0.000 6 0.000 0.035 2810 2476 3928

3609 -1.39 -243.3 368.6 -9.3 335 3614 0.00 2.62 0.00 0.000 4 0.000 0.074 2811 3874 3925

3754 -1.39 -243.3 383.0 -9.7 347 3762 0.00 2.42 0.00 0.000 6 0.000 0.036 2810 2468 3924

4079 -1.39 -243.3 413.0 -9.2 378 4084 0.00 2.65 0.00 0.000 4 0.000 0.077 2810 3875 3922

4167 -1.39 -243.3 421.7 -9.6 385 4175 0.00 2.42 0.00 0.000 6 0.000 0.037 2811 2473 3921

4491 end dive: TARGET_DEPTH_EXCEEDED

state 4491 begin apogee

4495 -0.42 0.0 450.8 8.8 416 4807 1.02 0.00 305.12 0.777 6 0.075 0.000 3030 2473 2936

4808 end apogee: CONTROL_FINISHED_OK

state 4808 begin climb

4810 1.39 243.3 467.8 0.0 447 5135 1.75 2.55 313.27 0.745 4 0.046 0.054 3421 1095 1944

5175 1.39 243.3 442.6 11.1 478 5180 0.00 2.55 0.00 0.000 6 0.000 0.045 3421 2507 1943

5501 1.39 243.3 407.7 11.0 508 5502 0.00 0.00 0.00 0.000 6 0.000 0.000 3421 2507 1939

5818 1.39 243.3 374.1 10.3 538 5822 0.00 2.55 0.00 0.000 4 0.000 0.049 3421 1093 1937

5869 1.39 243.3 368.5 10.7 542 5873 0.00 2.53 0.00 0.000 6 0.000 0.044 3421 2503 1937

6195 1.39 243.3 334.3 10.4 572 6199 0.00 2.62 0.00 0.000 4 0.000 0.078 3420 3888 1934

6267 1.39 243.3 325.0 13.9 578 6271 0.00 2.42 0.00 0.000 6 0.000 0.038 3421 2496 1934

6593 1.39 243.3 288.6 11.3 608 6594 0.00 0.00 0.00 0.000 6 0.000 0.000 3421 2496 1933

6911 1.39 246.2 256.1 9.9 638 6915 0.00 2.47 0.00 0.000 4 0.000 0.049 3421 1099 1933

6943 1.39 246.2 252.4 11.1 640 6951 0.00 2.50 0.00 0.000 6 0.000 0.041 3421 2510 1933

7268 1.49 323.4 223.7 7.8 671 7376 0.10 2.62 99.20 0.701 4 0.060 0.070 3455 3887 1617

7481 1.49 323.4 196.7 14.4 689 7489 0.00 2.45 0.00 0.000 6 0.000 0.035 3455 2493 1613

7807 1.49 323.4 154.0 13.8 720 7808 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2491 1611

8125 1.49 323.4 112.2 11.8 750 8129 0.00 2.45 0.00 0.000 4 0.000 0.042 3455 1095 1610

8164 1.49 323.4 107.8 11.0 753 8168 0.00 2.47 0.00 0.000 6 0.000 0.036 3455 2509 1609

8489 1.49 323.4 70.6 10.1 783 8490 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2509 1609

8809 1.49 328.9 35.3 9.8 813 8820 0.00 0.00 6.15 0.472 6 0.000 0.000 3455 2509 1594

9012 1.49 328.9 16.2 10.1 835 9019 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2509 1594

9087 1.49 328.9 8.9 10.2 848 9093 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2509 1595

9137 end climb: SURFACE_DEPTH_REACHED

state 9137 begin surface coast

9178 end surface coast: CONTROL_FINISHED_OK

state 9178 begin surface

ID	116	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	22	ESCAPE_HEADING	180	ROLL_MIN	155	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	25	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3900	ALTIM_PING_DEPTH	90
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2475	ALTIM_FREQUENCY	12
D_TGT	450	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2500	ALTIM_PULSE	2
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	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	47	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	770	DEVICE2	-1
T_MISSION	175	CALL_TRIES	5	VBD_MAX	3955	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2936	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	3	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	500	T_GPS_CHARGE	-57994.082	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	150	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	132	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3449	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3120	PRESSURE_YINT	-0.46644667	SEABIRD_T_G	0.0043738699
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_H	0.00063649943
MASS	51716	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5189185e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7386873e-06
FERRY_MAX	0	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8703537
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1242318
HD_A	0.003	PITCH_AD_RATE	140	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0015997718
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00020779716
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	144730,2151.154,-15945.175,51,1.0,51,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	4	TGT_RADIUS	1000.000
_XMS_NAKs	6	KALMAN_CONTROL	0.323,-0.027
_XMS_TOUTs	0	KALMAN_X	-30515.3,265.1,53.4,24132.3,-2276.3
_SM_DEPTHo	0.89	KALMAN_Y	6071.0,-427.6,101.3,-14833.7,112.3
_SM_ANGLEo	-67.8	MHEAD_RNG_PITCHd_Wd	84.9,6911,-13.1,-10.000
GPS2	150619,2151.152,-15945.502,11,1.1,11,9.8	D_GRID	450
SPEED_LIMITS	0.173,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.3,1.022982	MM_CLLLayer	0.03
SM_CCo	9202,12.38,0.502,0,0,1509,350.04	MM_CfgFile	0.30
SM_GC	0.70,0.00,0.00,12.38,0.000,0.000,0.502,134,2509,1509,-13.74,0.96,350.04	_24V_AH	23.8,11.990
IRIDIUM_FIX	2141.13,-15943.76,241098,151544	_10V_AH	10.0,3.325
TT8_MAMPS	0.064428	DATA_FILE_SIZE	28384,864
HUMID	1906	CAP_FILE_SIZE	320499,0
INTERNAL_PRESSURE	11.4165	CFSIZE	260034560,254709760
TCM_TEMP	23.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	300709,174149,2151.141,-15945.020,11,1.6,28,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	182	146.63	SBE_CT	574	24	328.00
Roll_motor	79	78	148.82	nil	0	0	0.00
VBD_pump_during_apogee	723	776	13383.52	nil	0	0	0.00
VBD_pump_during_surface	12	501	147.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	109	103	267.63	nil	0	0	0.00
Iridium_during_connect	120	160	460.07	GUMSTIX	169	1000	4030.43
Iridium_during_xfer	632	223	3355.85
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	67	1000	1603.36
GPS	11	50	5.99
TT8	1653	18	297.69
LPSleep	4976	0	19.41
TT8_Active	732	18	131.93
TT8_Sampling	1557	38	591.67
TT8_CF8	1416	44	623.37
TT8_Kalman	33	80	26.68
Analog_circuits	1627	12	195.25
GPS_charging	0	0	0.00
Compass	1504	8	120.33
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	-1.39	-243.3	0.0	0.0	0	94	0.00	0.00	-73.80	0.000	2	0.000	0.000	133	2497	3351
97	-1.39	-243.3	3.4	-7.7	11	134	16.17	2.50	-8.75	0.000	4	0.183	0.045	2810	1080	3932
211	-1.39	-243.3	31.3	-15.0	24	219	0.00	2.45	0.00	0.000	6	0.000	0.032	2811	2478	3933
409	-1.39	-243.3	58.1	-12.8	43	410	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2479	3935
729	-1.39	-243.3	97.2	-12.1	73	733	0.00	2.55	0.00	0.000	4	0.000	0.064	2811	3876	3935
805	-1.39	-243.3	106.5	-12.0	79	813	0.00	2.38	0.00	0.000	6	0.000	0.028	2810	2469	3935
1131	-1.39	-243.3	142.9	-11.6	110	1135	0.00	2.58	0.00	0.000	4	0.000	0.064	2811	3876	3935
1250	-1.39	-243.3	157.1	-12.3	120	1255	0.00	2.35	0.00	0.000	6	0.000	0.028	2810	2470	3935
1575	-1.39	-243.3	192.2	-10.1	150	1579	0.00	2.40	0.00	0.000	4	0.000	0.038	2810	1076	3935
1606	-1.39	-243.3	195.7	-10.4	152	1614	0.00	2.45	0.00	0.000	6	0.000	0.035	2811	2472	3935
1932	-1.39	-243.3	226.6	-9.0	183	1936	0.00	2.58	0.00	0.000	4	0.000	0.069	2810	3876	3935
2052	-1.39	-243.3	237.5	-9.3	193	2056	0.00	2.35	0.00	0.000	6	0.000	0.030	2810	2479	3935
2377	-1.39	-243.3	266.7	-8.4	223	2381	0.00	2.60	0.00	0.000	4	0.000	0.070	2810	3876	3935
2461	-1.39	-243.3	274.5	-9.2	230	2466	0.00	2.38	0.00	0.000	6	0.000	0.032	2811	2476	3935
2786	-1.39	-243.3	301.4	-7.9	260	2790	0.00	2.62	0.00	0.000	4	0.000	0.072	2810	3883	3931
2885	-1.39	-243.3	309.5	-7.9	268	2893	0.00	2.40	0.00	0.000	6	0.000	0.034	2811	2478	3931
3211	-1.39	-243.3	334.3	-7.5	299	3216	0.00	2.62	0.00	0.000	4	0.000	0.073	2810	3877	3928
3285	-1.39	-243.3	340.6	-9.2	305	3289	0.00	2.40	0.00	0.000	6	0.000	0.035	2810	2476	3928
3609	-1.39	-243.3	368.6	-9.3	335	3614	0.00	2.62	0.00	0.000	4	0.000	0.074	2811	3874	3925
3754	-1.39	-243.3	383.0	-9.7	347	3762	0.00	2.42	0.00	0.000	6	0.000	0.036	2810	2468	3924
4079	-1.39	-243.3	413.0	-9.2	378	4084	0.00	2.65	0.00	0.000	4	0.000	0.077	2810	3875	3922
4167	-1.39	-243.3	421.7	-9.6	385	4175	0.00	2.42	0.00	0.000	6	0.000	0.037	2811	2473	3921
4491	end dive: TARGET_DEPTH_EXCEEDED
state	4491	begin apogee
4495	-0.42	0.0	450.8	8.8	416	4807	1.02	0.00	305.12	0.777	6	0.075	0.000	3030	2473	2936
4808	end apogee: CONTROL_FINISHED_OK
state	4808	begin climb
4810	1.39	243.3	467.8	0.0	447	5135	1.75	2.55	313.27	0.745	4	0.046	0.054	3421	1095	1944
5175	1.39	243.3	442.6	11.1	478	5180	0.00	2.55	0.00	0.000	6	0.000	0.045	3421	2507	1943
5501	1.39	243.3	407.7	11.0	508	5502	0.00	0.00	0.00	0.000	6	0.000	0.000	3421	2507	1939
5818	1.39	243.3	374.1	10.3	538	5822	0.00	2.55	0.00	0.000	4	0.000	0.049	3421	1093	1937
5869	1.39	243.3	368.5	10.7	542	5873	0.00	2.53	0.00	0.000	6	0.000	0.044	3421	2503	1937
6195	1.39	243.3	334.3	10.4	572	6199	0.00	2.62	0.00	0.000	4	0.000	0.078	3420	3888	1934
6267	1.39	243.3	325.0	13.9	578	6271	0.00	2.42	0.00	0.000	6	0.000	0.038	3421	2496	1934
6593	1.39	243.3	288.6	11.3	608	6594	0.00	0.00	0.00	0.000	6	0.000	0.000	3421	2496	1933
6911	1.39	246.2	256.1	9.9	638	6915	0.00	2.47	0.00	0.000	4	0.000	0.049	3421	1099	1933
6943	1.39	246.2	252.4	11.1	640	6951	0.00	2.50	0.00	0.000	6	0.000	0.041	3421	2510	1933
7268	1.49	323.4	223.7	7.8	671	7376	0.10	2.62	99.20	0.701	4	0.060	0.070	3455	3887	1617
7481	1.49	323.4	196.7	14.4	689	7489	0.00	2.45	0.00	0.000	6	0.000	0.035	3455	2493	1613
7807	1.49	323.4	154.0	13.8	720	7808	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2491	1611
8125	1.49	323.4	112.2	11.8	750	8129	0.00	2.45	0.00	0.000	4	0.000	0.042	3455	1095	1610
8164	1.49	323.4	107.8	11.0	753	8168	0.00	2.47	0.00	0.000	6	0.000	0.036	3455	2509	1609
8489	1.49	323.4	70.6	10.1	783	8490	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2509	1609
8809	1.49	328.9	35.3	9.8	813	8820	0.00	0.00	6.15	0.472	6	0.000	0.000	3455	2509	1594
9012	1.49	328.9	16.2	10.1	835	9019	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2509	1594
9087	1.49	328.9	8.9	10.2	848	9093	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2509	1595
9137	end climb: SURFACE_DEPTH_REACHED
state	9137	begin surface coast
9178	end surface coast: CONTROL_FINISHED_OK
state	9178	begin surface