Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 27 * 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 27 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 2550 ALTIM_FREQUENCY 12

D_TGT 450 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2520 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 40 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -58041.105 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 3100 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 -58041.105

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 3100 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2550 MASS 51716 R_PORT_OVSHOOT 40 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 20 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 27 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 204201,2151.210,-15944.728,41,1.5,41,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 3 TGT_RADIUS 2000.000

_XMS_NAKs 3 KALMAN_CONTROL 0.310,-0.096

_XMS_TOUTs 0 KALMAN_X -34346.6,-654.6,-188.9,29933.0,-1362.5

_SM_DEPTHo 0.89 KALMAN_Y 6741.6,-205.8,37.1,-15383.6,477.8

_SM_ANGLEo -66.2 MHEAD_RNG_PITCHd_Wd 97.5,6182,-13.1,-10.000

GPS2 205656,2151.303,-15945.027,12,1.2,12,9.8 D_GRID 450

SPEED_LIMITS 0.173,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH -0.2,1.010821 MM_CLLLayer 0.03

SM_CCo 9407,0.00,0.000,0,0,1222,420.44 MM_CfgFile 0.30

SM_GC 0.99,15.02,0.00,0.00,0.051,0.000,0.000,124,2565,1222,-13.63,0.40,420.44 _24V_AH 23.8,12.434

IRIDIUM_FIX 2143.45,-15945.93,241098,202037 _10V_AH 10.1,3.520

TT8_MAMPS 0.079001 DATA_FILE_SIZE 28359,882

HUMID 1862 CAP_FILE_SIZE 322556,0

INTERNAL_PRESSURE 11.3969 CFSIZE 260034560,254455808

TCM_TEMP 23.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 300709,233537,2150.991,-15944.396,28,1.1,29,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 183 148.77 SBE_CT 585 24 334.30

Roll_motor 78 88 164.11 nil 0 0 0.00

VBD_pump_during_apogee 842 776 15573.89 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 69 103 170.56 nil 0 0 0.00

Iridium_during_connect 89 160 340.50 GUMSTIX 141 1000 3369.37

Iridium_during_xfer 525 223 2791.52

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 66 1000 1588.05

GPS 12 50 6.26

TT8 1651 18 300.23

LPSleep 5066 0 19.96

TT8_Active 832 18 151.38

TT8_Sampling 1508 38 579.06

TT8_CF8 1232 44 547.64

TT8_Kalman 33 80 26.94

Analog_circuits 1715 12 207.93

GPS_charging 0 0 0.00

Compass 1466 8 118.52

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

17 -1.39 -243.3 0.0 0.0 0 88 0.00 0.00 -68.00 0.000 2 0.000 0.000 133 2495 3281

90 -1.39 -243.3 3.2 -7.2 10 120 16.10 0.00 -10.30 0.000 6 0.183 0.000 2791 2495 3930

191 -1.39 -243.3 28.1 -17.0 23 192 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2495 3933

382 -1.39 -243.3 60.1 -16.9 41 386 0.00 2.55 0.00 0.000 4 0.000 0.061 2791 3890 3935

425 -1.39 -243.3 66.6 -14.3 44 433 0.00 2.30 0.00 0.000 6 0.000 0.028 2791 2537 3935

753 -1.39 -243.3 108.2 -12.6 75 757 0.00 2.50 0.00 0.000 4 0.000 0.065 2791 3891 3935

852 -1.39 -243.3 121.0 -11.6 83 860 0.00 2.28 0.00 0.000 6 0.000 0.028 2791 2545 3935

1177 -1.39 -243.3 155.7 -10.8 114 1181 0.00 2.47 0.00 0.000 4 0.000 0.066 2791 3890 3935

1240 -1.39 -243.3 162.7 -11.1 119 1244 0.00 2.22 0.00 0.000 6 0.000 0.028 2791 2550 3935

1565 -1.39 -243.3 197.8 -10.1 149 1566 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2547 3935

1884 -1.39 -243.3 228.1 -9.1 179 1888 0.00 2.50 0.00 0.000 4 0.000 0.070 2791 3893 3935

1983 -1.39 -243.3 238.7 -11.1 187 1991 0.00 2.28 0.00 0.000 6 0.000 0.031 2791 2565 3935

2308 -1.39 -243.3 269.9 -8.8 218 2313 0.00 2.47 0.00 0.000 4 0.000 0.072 2791 3890 3935

2364 -1.39 -243.3 275.2 -9.5 222 2371 0.00 2.28 0.00 0.000 6 0.000 0.032 2791 2549 3935

2689 -1.39 -243.3 305.9 -9.0 253 2693 0.00 2.53 0.00 0.000 4 0.000 0.074 2791 3894 3933

2723 -1.39 -243.3 308.9 -9.0 256 2727 0.00 2.30 0.00 0.000 6 0.000 0.035 2791 2546 3933

3048 -1.39 -243.3 337.3 -8.9 286 3052 0.00 2.53 0.00 0.000 4 0.000 0.075 2791 3888 3929

3104 -1.39 -243.3 342.6 -9.6 290 3111 0.00 2.30 0.00 0.000 6 0.000 0.035 2791 2545 3929

3428 -1.39 -243.3 370.7 -8.4 321 3432 0.00 2.53 0.00 0.000 4 0.000 0.077 2791 3885 3927

3480 -1.39 -243.3 375.1 -8.5 325 3485 0.00 2.30 0.00 0.000 6 0.000 0.037 2791 2548 3927

3805 -1.39 -243.3 401.6 -8.3 355 3806 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2549 3924

4124 -1.39 -243.3 430.0 -9.3 385 4128 0.00 2.53 0.00 0.000 4 0.000 0.081 2791 3884 3921

4167 -1.39 -243.3 434.4 -9.9 388 4175 0.00 2.33 0.00 0.000 6 0.000 0.038 2791 2543 3921

4342 end dive: TARGET_DEPTH_EXCEEDED

state 4342 begin apogee

4346 -0.42 0.0 450.3 9.1 405 4658 1.02 0.00 305.42 0.777 6 0.077 0.000 3008 2544 2936

4660 end apogee: CONTROL_FINISHED_OK

state 4660 begin climb

4661 1.39 243.3 467.6 0.0 436 4986 1.77 2.65 312.75 0.748 4 0.051 0.080 3405 3891 1944

5070 1.39 243.3 442.8 10.4 473 5078 0.00 2.42 0.00 0.000 6 0.000 0.040 3406 2521 1940

5397 1.43 277.7 412.3 9.0 504 5446 0.00 0.00 44.55 0.738 6 0.000 0.000 3406 2521 1803

5765 1.43 277.7 373.6 11.0 539 5769 0.00 2.55 0.00 0.000 4 0.000 0.054 3406 1112 1799

5860 1.43 277.7 363.0 10.8 547 5864 0.00 2.53 0.00 0.000 6 0.000 0.044 3406 2524 1798

6185 1.43 277.7 328.2 10.6 577 6189 0.00 2.58 0.00 0.000 4 0.000 0.076 3406 3890 1796

6249 1.43 277.7 320.9 11.8 582 6253 0.00 2.40 0.00 0.000 6 0.000 0.040 3406 2517 1796

6574 1.47 306.6 287.8 9.2 612 6615 0.00 0.00 36.97 0.734 6 0.000 0.000 3406 2513 1684

6933 1.47 306.6 249.9 11.4 646 6934 0.00 0.00 0.00 0.000 6 0.000 0.000 3406 2514 1681

7251 1.47 306.6 212.3 11.4 676 7255 0.00 2.58 0.00 0.000 4 0.000 0.069 3406 3889 1679

7293 1.47 306.6 206.9 12.1 679 7301 0.00 2.42 0.00 0.000 6 0.000 0.037 3406 2513 1679

7619 1.47 306.6 171.2 10.7 710 7623 0.00 2.55 0.00 0.000 4 0.000 0.067 3406 3887 1678

7665 1.47 306.6 166.4 11.2 714 7669 0.00 2.38 0.00 0.000 6 0.000 0.035 3406 2507 1678

7989 1.47 312.0 133.6 9.9 744 8000 0.00 0.00 6.03 0.542 6 0.000 0.000 3406 2506 1664

8318 1.50 338.1 104.2 9.3 775 8359 0.00 0.00 35.22 0.624 6 0.000 0.000 3406 2506 1556

8679 1.60 418.3 71.0 7.8 809 8789 0.17 2.65 101.25 0.581 4 0.039 0.061 3460 3888 1230

8855 1.60 418.3 52.3 11.3 824 8864 0.00 2.38 0.00 0.000 6 0.000 0.031 3461 2512 1228

9184 1.60 418.3 16.3 11.3 858 9192 0.00 2.53 0.00 0.000 4 0.000 0.061 3460 3892 1227

9226 1.60 418.3 11.4 11.9 865 9233 0.00 2.33 0.00 0.000 6 0.000 0.030 3461 2521 1227

9288 end climb: SURFACE_DEPTH_REACHED

state 9288 begin surface coast

9321 end surface coast: CONTROL_FINISHED_OK

state 9321 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	27	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	2550	ALTIM_FREQUENCY	12
D_TGT	450	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2520	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	40	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-58041.105	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	3100	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	204201,2151.210,-15944.728,41,1.5,41,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	3	TGT_RADIUS	2000.000
_XMS_NAKs	3	KALMAN_CONTROL	0.310,-0.096
_XMS_TOUTs	0	KALMAN_X	-34346.6,-654.6,-188.9,29933.0,-1362.5
_SM_DEPTHo	0.89	KALMAN_Y	6741.6,-205.8,37.1,-15383.6,477.8
_SM_ANGLEo	-66.2	MHEAD_RNG_PITCHd_Wd	97.5,6182,-13.1,-10.000
GPS2	205656,2151.303,-15945.027,12,1.2,12,9.8	D_GRID	450
SPEED_LIMITS	0.173,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	-0.2,1.010821	MM_CLLLayer	0.03
SM_CCo	9407,0.00,0.000,0,0,1222,420.44	MM_CfgFile	0.30
SM_GC	0.99,15.02,0.00,0.00,0.051,0.000,0.000,124,2565,1222,-13.63,0.40,420.44	_24V_AH	23.8,12.434
IRIDIUM_FIX	2143.45,-15945.93,241098,202037	_10V_AH	10.1,3.520
TT8_MAMPS	0.079001	DATA_FILE_SIZE	28359,882
HUMID	1862	CAP_FILE_SIZE	322556,0
INTERNAL_PRESSURE	11.3969	CFSIZE	260034560,254455808
TCM_TEMP	23.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	300709,233537,2150.991,-15944.396,28,1.1,29,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	183	148.77	SBE_CT	585	24	334.30
Roll_motor	78	88	164.11	nil	0	0	0.00
VBD_pump_during_apogee	842	776	15573.89	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	69	103	170.56	nil	0	0	0.00
Iridium_during_connect	89	160	340.50	GUMSTIX	141	1000	3369.37
Iridium_during_xfer	525	223	2791.52
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	66	1000	1588.05
GPS	12	50	6.26
TT8	1651	18	300.23
LPSleep	5066	0	19.96
TT8_Active	832	18	151.38
TT8_Sampling	1508	38	579.06
TT8_CF8	1232	44	547.64
TT8_Kalman	33	80	26.94
Analog_circuits	1715	12	207.93
GPS_charging	0	0	0.00
Compass	1466	8	118.52
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
17	-1.39	-243.3	0.0	0.0	0	88	0.00	0.00	-68.00	0.000	2	0.000	0.000	133	2495	3281
90	-1.39	-243.3	3.2	-7.2	10	120	16.10	0.00	-10.30	0.000	6	0.183	0.000	2791	2495	3930
191	-1.39	-243.3	28.1	-17.0	23	192	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2495	3933
382	-1.39	-243.3	60.1	-16.9	41	386	0.00	2.55	0.00	0.000	4	0.000	0.061	2791	3890	3935
425	-1.39	-243.3	66.6	-14.3	44	433	0.00	2.30	0.00	0.000	6	0.000	0.028	2791	2537	3935
753	-1.39	-243.3	108.2	-12.6	75	757	0.00	2.50	0.00	0.000	4	0.000	0.065	2791	3891	3935
852	-1.39	-243.3	121.0	-11.6	83	860	0.00	2.28	0.00	0.000	6	0.000	0.028	2791	2545	3935
1177	-1.39	-243.3	155.7	-10.8	114	1181	0.00	2.47	0.00	0.000	4	0.000	0.066	2791	3890	3935
1240	-1.39	-243.3	162.7	-11.1	119	1244	0.00	2.22	0.00	0.000	6	0.000	0.028	2791	2550	3935
1565	-1.39	-243.3	197.8	-10.1	149	1566	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2547	3935
1884	-1.39	-243.3	228.1	-9.1	179	1888	0.00	2.50	0.00	0.000	4	0.000	0.070	2791	3893	3935
1983	-1.39	-243.3	238.7	-11.1	187	1991	0.00	2.28	0.00	0.000	6	0.000	0.031	2791	2565	3935
2308	-1.39	-243.3	269.9	-8.8	218	2313	0.00	2.47	0.00	0.000	4	0.000	0.072	2791	3890	3935
2364	-1.39	-243.3	275.2	-9.5	222	2371	0.00	2.28	0.00	0.000	6	0.000	0.032	2791	2549	3935
2689	-1.39	-243.3	305.9	-9.0	253	2693	0.00	2.53	0.00	0.000	4	0.000	0.074	2791	3894	3933
2723	-1.39	-243.3	308.9	-9.0	256	2727	0.00	2.30	0.00	0.000	6	0.000	0.035	2791	2546	3933
3048	-1.39	-243.3	337.3	-8.9	286	3052	0.00	2.53	0.00	0.000	4	0.000	0.075	2791	3888	3929
3104	-1.39	-243.3	342.6	-9.6	290	3111	0.00	2.30	0.00	0.000	6	0.000	0.035	2791	2545	3929
3428	-1.39	-243.3	370.7	-8.4	321	3432	0.00	2.53	0.00	0.000	4	0.000	0.077	2791	3885	3927
3480	-1.39	-243.3	375.1	-8.5	325	3485	0.00	2.30	0.00	0.000	6	0.000	0.037	2791	2548	3927
3805	-1.39	-243.3	401.6	-8.3	355	3806	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2549	3924
4124	-1.39	-243.3	430.0	-9.3	385	4128	0.00	2.53	0.00	0.000	4	0.000	0.081	2791	3884	3921
4167	-1.39	-243.3	434.4	-9.9	388	4175	0.00	2.33	0.00	0.000	6	0.000	0.038	2791	2543	3921
4342	end dive: TARGET_DEPTH_EXCEEDED
state	4342	begin apogee
4346	-0.42	0.0	450.3	9.1	405	4658	1.02	0.00	305.42	0.777	6	0.077	0.000	3008	2544	2936
4660	end apogee: CONTROL_FINISHED_OK
state	4660	begin climb
4661	1.39	243.3	467.6	0.0	436	4986	1.77	2.65	312.75	0.748	4	0.051	0.080	3405	3891	1944
5070	1.39	243.3	442.8	10.4	473	5078	0.00	2.42	0.00	0.000	6	0.000	0.040	3406	2521	1940
5397	1.43	277.7	412.3	9.0	504	5446	0.00	0.00	44.55	0.738	6	0.000	0.000	3406	2521	1803
5765	1.43	277.7	373.6	11.0	539	5769	0.00	2.55	0.00	0.000	4	0.000	0.054	3406	1112	1799
5860	1.43	277.7	363.0	10.8	547	5864	0.00	2.53	0.00	0.000	6	0.000	0.044	3406	2524	1798
6185	1.43	277.7	328.2	10.6	577	6189	0.00	2.58	0.00	0.000	4	0.000	0.076	3406	3890	1796
6249	1.43	277.7	320.9	11.8	582	6253	0.00	2.40	0.00	0.000	6	0.000	0.040	3406	2517	1796
6574	1.47	306.6	287.8	9.2	612	6615	0.00	0.00	36.97	0.734	6	0.000	0.000	3406	2513	1684
6933	1.47	306.6	249.9	11.4	646	6934	0.00	0.00	0.00	0.000	6	0.000	0.000	3406	2514	1681
7251	1.47	306.6	212.3	11.4	676	7255	0.00	2.58	0.00	0.000	4	0.000	0.069	3406	3889	1679
7293	1.47	306.6	206.9	12.1	679	7301	0.00	2.42	0.00	0.000	6	0.000	0.037	3406	2513	1679
7619	1.47	306.6	171.2	10.7	710	7623	0.00	2.55	0.00	0.000	4	0.000	0.067	3406	3887	1678
7665	1.47	306.6	166.4	11.2	714	7669	0.00	2.38	0.00	0.000	6	0.000	0.035	3406	2507	1678
7989	1.47	312.0	133.6	9.9	744	8000	0.00	0.00	6.03	0.542	6	0.000	0.000	3406	2506	1664
8318	1.50	338.1	104.2	9.3	775	8359	0.00	0.00	35.22	0.624	6	0.000	0.000	3406	2506	1556
8679	1.60	418.3	71.0	7.8	809	8789	0.17	2.65	101.25	0.581	4	0.039	0.061	3460	3888	1230
8855	1.60	418.3	52.3	11.3	824	8864	0.00	2.38	0.00	0.000	6	0.000	0.031	3461	2512	1228
9184	1.60	418.3	16.3	11.3	858	9192	0.00	2.53	0.00	0.000	4	0.000	0.061	3460	3892	1227
9226	1.60	418.3	11.4	11.9	865	9233	0.00	2.33	0.00	0.000	6	0.000	0.030	3461	2521	1227
9288	end climb: SURFACE_DEPTH_REACHED
state	9288	begin surface coast
9321	end surface coast: CONTROL_FINISHED_OK
state	9321	begin surface