Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 29 * 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 29 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 660 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 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 220 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 275 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 750 T_GPS_CHARGE -58093.207 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 750 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 660 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 220

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 -58093.207

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 275

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 43 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 34 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 29 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 033306,2150.186,-15944.010,30,1.2,30,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 9 KALMAN_CONTROL 0.323,0.034

_XMS_TOUTs 0 KALMAN_X -39709.7,-811.0,-196.2,36827.0,-1741.8

_SM_DEPTHo 0.79 KALMAN_Y 6302.3,429.4,-150.7,-17500.9,-189.4

_SM_ANGLEo -68.8 MHEAD_RNG_PITCHd_Wd 74.1,4627,-13.1,-10.000

GPS2 034456,2150.159,-15944.236,27,1.4,27,9.8 D_GRID 660

SPEED_LIMITS 0.173,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH -0.2,1.023100 MM_CLLLayer 0.03

SM_CCo 13607,0.00,0.000,0,0,1262,410.63 MM_CfgFile 0.30

SM_GC 1.06,14.88,0.00,0.00,0.044,0.000,0.000,125,2565,1262,-13.63,0.42,410.63 _24V_AH 23.6,12.952

IRIDIUM_FIX 2143.45,-15945.93,241098,232341 _10V_AH 10.0,3.780

TT8_MAMPS 0.079001 DATA_FILE_SIZE 40925,1270

HUMID 1831 CAP_FILE_SIZE 452730,0

INTERNAL_PRESSURE 11.3676 CFSIZE 260034560,253997056

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 310709,073336,2150.764,-15942.345,28,1.0,28,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 181 145.97 SBE_CT 852 24 482.71

Roll_motor 112 95 255.57 nil 0 0 0.00

VBD_pump_during_apogee 850 922 18522.99 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 25 103 61.74 nil 0 0 0.00

Iridium_during_connect 34 160 131.02 GUMSTIX 184 1000 4364.14

Iridium_during_xfer 464 223 2447.18

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 92 1000 2179.60

GPS 28 50 14.07

TT8 2423 18 436.17

LPSleep 7496 0 29.24

TT8_Active 876 18 157.71

TT8_Sampling 2199 38 835.92

TT8_CF8 1299 44 571.69

TT8_Kalman 33 80 26.68

Analog_circuits 2076 12 249.20

GPS_charging 0 0 0.00

Compass 2134 8 170.74

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 14 begin dive

16 -1.39 -243.3 0.0 0.0 0 99 0.00 0.00 -80.20 0.000 2 0.000 0.000 124 2574 3450

102 -1.39 -243.3 4.0 -9.3 12 130 16.15 0.00 -6.95 0.000 6 0.182 0.000 2794 2574 3931

200 -1.39 -243.3 32.4 -17.3 23 204 0.00 2.38 0.00 0.000 4 0.000 0.060 2794 3876 3933

261 -1.39 -243.3 43.1 -17.6 28 269 0.00 2.25 0.00 0.000 6 0.000 0.029 2794 2534 3933

459 -1.39 -243.3 72.6 -14.5 47 460 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2534 3936

778 -1.39 -243.3 115.6 -13.2 77 779 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2534 3936

1095 -1.39 -243.3 155.1 -12.7 107 1100 0.00 2.47 0.00 0.000 4 0.000 0.067 2794 3873 3936

1262 -1.39 -243.3 175.6 -12.2 121 1270 0.00 2.25 0.00 0.000 6 0.000 0.029 2794 2547 3936

1587 -1.39 -243.3 211.4 -10.6 152 1591 0.00 2.45 0.00 0.000 4 0.000 0.067 2794 3873 3936

1627 -1.39 -243.3 215.7 -11.1 155 1631 0.00 2.22 0.00 0.000 6 0.000 0.030 2794 2548 3935

1952 -1.39 -243.3 248.6 -8.9 185 1953 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2547 3936

2271 -1.39 -243.3 279.0 -9.4 215 2276 0.00 2.47 0.00 0.000 4 0.000 0.071 2794 3873 3935

2334 -1.39 -243.3 285.3 -10.2 220 2339 0.00 2.25 0.00 0.000 6 0.000 0.033 2794 2548 3936

2659 -1.39 -243.3 314.8 -9.5 250 2663 0.00 2.47 0.00 0.000 4 0.000 0.072 2794 3871 3935

2721 -1.39 -243.3 321.0 -9.5 255 2728 0.00 2.25 0.00 0.000 6 0.000 0.035 2794 2554 3936

3046 -1.39 -243.3 353.7 -9.7 286 3047 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2554 3931

3364 -1.39 -243.3 383.9 -9.9 316 3368 0.00 2.50 0.00 0.000 4 0.000 0.076 2794 3876 3930

3488 -1.39 -243.3 396.2 -10.3 327 3493 0.00 2.30 0.00 0.000 6 0.000 0.038 2794 2545 3928

3813 -1.39 -243.3 426.4 -8.6 357 3817 0.00 2.53 0.00 0.000 4 0.000 0.077 2794 3876 3926

3920 -1.39 -243.3 435.6 -8.8 366 3924 0.00 2.30 0.00 0.000 6 0.000 0.038 2794 2548 3925

4245 -1.39 -243.3 461.3 -7.9 396 4246 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2548 3922

4564 -1.39 -243.3 487.3 -8.0 426 4565 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2548 3920

4882 -1.39 -243.3 513.2 -8.3 456 4886 0.00 2.55 0.00 0.000 4 0.000 0.084 2794 3876 3918

4934 -1.39 -243.3 517.4 -8.6 460 4938 0.00 2.33 0.00 0.000 6 0.000 0.040 2794 2544 3918

5258 -1.39 -243.3 543.3 -7.8 490 5263 0.00 2.55 0.00 0.000 4 0.000 0.085 2794 3870 3916

5370 -1.39 -243.3 553.1 -8.8 499 5377 0.00 2.33 0.00 0.000 6 0.000 0.040 2794 2543 3914

5695 -1.39 -243.3 580.4 -8.4 530 5699 0.00 2.58 0.00 0.000 4 0.000 0.087 2794 3870 3913

5802 -1.39 -243.3 589.7 -8.7 539 5806 0.00 2.33 0.00 0.000 6 0.000 0.041 2794 2549 3912

6126 -1.39 -243.3 616.4 -8.1 569 6128 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2549 3910

6445 -1.39 -243.3 641.7 -8.3 599 6449 0.00 2.60 0.00 0.000 4 0.000 0.096 2794 3868 3909

6568 -1.39 -243.3 652.9 -9.3 609 6575 0.00 2.35 0.00 0.000 6 0.000 0.042 2793 2545 3908

6646 end dive: TARGET_DEPTH_EXCEEDED

state 6646 begin apogee

6651 -0.42 0.0 660.0 9.2 617 6972 1.02 0.00 314.20 0.923 6 0.081 0.000 3009 2545 2936

6973 end apogee: CONTROL_FINISHED_OK

state 6974 begin climb

6976 1.39 243.3 681.2 0.0 649 7315 1.77 0.00 326.62 0.884 6 0.055 0.000 3402 2545 1944

7632 1.39 243.3 633.3 10.7 712 7637 0.00 2.62 0.00 0.000 4 0.000 0.090 3402 3873 1938

7709 1.39 243.3 624.3 11.9 718 7717 0.00 2.45 0.00 0.000 6 0.000 0.042 3401 2519 1938

8034 1.39 243.3 585.7 12.6 749 8036 0.00 0.00 0.00 0.000 6 0.000 0.000 3402 2517 1936

8353 1.39 243.3 545.1 13.2 779 8354 0.00 0.00 0.00 0.000 6 0.000 0.000 3402 2516 1935

8671 1.39 243.3 503.3 12.4 809 8676 0.00 2.60 0.00 0.000 4 0.000 0.077 3402 3877 1934

8733 1.39 243.3 495.3 13.2 814 8738 0.00 2.42 0.00 0.000 6 0.000 0.042 3402 2505 1933

9058 1.39 243.3 457.0 11.8 844 9062 0.00 2.53 0.00 0.000 4 0.000 0.056 3402 1112 1933

9100 1.39 243.3 451.7 11.8 847 9108 0.00 2.50 0.00 0.000 6 0.000 0.046 3402 2502 1933

9426 1.39 243.3 412.7 12.0 878 9430 0.00 2.53 0.00 0.000 4 0.000 0.051 3402 1111 1933

9477 1.39 243.3 406.7 12.0 882 9481 0.00 2.55 0.00 0.000 6 0.000 0.046 3402 2530 1933

9801 1.39 243.3 372.2 10.4 912 9806 0.00 2.60 0.00 0.000 4 0.000 0.079 3402 3897 1932

9878 1.39 243.3 362.6 12.6 918 9886 0.00 2.45 0.00 0.000 6 0.000 0.041 3402 2520 1932

10203 1.39 243.3 325.8 10.7 949 10207 0.00 2.53 0.00 0.000 4 0.000 0.053 3402 1116 1932

10269 1.39 243.3 318.2 12.2 954 10277 0.00 2.53 0.00 0.000 6 0.000 0.044 3402 2529 1932

10594 1.39 243.3 284.2 10.2 985 10599 0.00 2.55 0.00 0.000 4 0.000 0.074 3402 3885 1931

10646 1.39 243.3 278.9 10.2 989 10651 0.00 2.40 0.00 0.000 6 0.000 0.039 3402 2512 1931

10971 1.39 243.8 246.7 10.0 1019 10975 0.00 2.60 0.00 0.000 4 0.000 0.071 3402 3890 1931

11036 1.39 243.8 239.1 11.2 1024 11044 0.00 2.42 0.00 0.000 6 0.000 0.038 3402 2515 1931

11362 1.41 263.7 207.2 9.4 1055 11391 0.00 2.53 23.60 0.721 4 0.000 0.047 3402 1121 1860

11437 1.45 298.1 200.3 9.0 1061 11488 0.00 2.50 45.25 0.708 6 0.000 0.041 3402 2524 1720

11814 1.46 300.2 164.2 9.9 1096 11819 0.00 2.55 0.00 0.000 4 0.000 0.068 3402 3894 1716

11880 1.46 300.2 157.3 10.6 1101 11888 0.00 2.42 0.00 0.000 6 0.000 0.035 3402 2510 1716

12205 1.46 300.2 126.3 10.1 1132 12210 0.00 2.55 0.00 0.000 4 0.000 0.063 3402 3887 1716

12257 1.46 300.2 120.8 10.4 1136 12262 0.00 2.35 0.00 0.000 6 0.000 0.033 3402 2516 1716

12582 1.47 314.0 87.6 9.6 1166 12607 0.00 2.62 20.52 0.598 4 0.000 0.061 3402 3890 1656

12679 1.47 314.0 77.0 10.3 1174 12687 0.00 2.38 0.00 0.000 6 0.000 0.031 3402 2517 1655

13005 1.48 316.9 49.4 9.9 1205 13016 0.00 0.00 5.57 0.463 6 0.000 0.000 3402 2517 1643

13207 1.59 408.8 32.5 7.4 1224 13326 0.20 0.00 114.85 0.549 6 0.041 0.000 3461 2516 1269

13480 end climb: SURFACE_DEPTH_REACHED

state 13480 begin surface coast

13521 end surface coast: CONTROL_FINISHED_OK

state 13521 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	29	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	660	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	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	220	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	275	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	750	T_GPS_CHARGE	-58093.207	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	033306,2150.186,-15944.010,30,1.2,30,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	9	KALMAN_CONTROL	0.323,0.034
_XMS_TOUTs	0	KALMAN_X	-39709.7,-811.0,-196.2,36827.0,-1741.8
_SM_DEPTHo	0.79	KALMAN_Y	6302.3,429.4,-150.7,-17500.9,-189.4
_SM_ANGLEo	-68.8	MHEAD_RNG_PITCHd_Wd	74.1,4627,-13.1,-10.000
GPS2	034456,2150.159,-15944.236,27,1.4,27,9.8	D_GRID	660
SPEED_LIMITS	0.173,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	-0.2,1.023100	MM_CLLLayer	0.03
SM_CCo	13607,0.00,0.000,0,0,1262,410.63	MM_CfgFile	0.30
SM_GC	1.06,14.88,0.00,0.00,0.044,0.000,0.000,125,2565,1262,-13.63,0.42,410.63	_24V_AH	23.6,12.952
IRIDIUM_FIX	2143.45,-15945.93,241098,232341	_10V_AH	10.0,3.780
TT8_MAMPS	0.079001	DATA_FILE_SIZE	40925,1270
HUMID	1831	CAP_FILE_SIZE	452730,0
INTERNAL_PRESSURE	11.3676	CFSIZE	260034560,253997056
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	310709,073336,2150.764,-15942.345,28,1.0,28,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	181	145.97	SBE_CT	852	24	482.71
Roll_motor	112	95	255.57	nil	0	0	0.00
VBD_pump_during_apogee	850	922	18522.99	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	25	103	61.74	nil	0	0	0.00
Iridium_during_connect	34	160	131.02	GUMSTIX	184	1000	4364.14
Iridium_during_xfer	464	223	2447.18
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	92	1000	2179.60
GPS	28	50	14.07
TT8	2423	18	436.17
LPSleep	7496	0	29.24
TT8_Active	876	18	157.71
TT8_Sampling	2199	38	835.92
TT8_CF8	1299	44	571.69
TT8_Kalman	33	80	26.68
Analog_circuits	2076	12	249.20
GPS_charging	0	0	0.00
Compass	2134	8	170.74
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	14	begin dive
16	-1.39	-243.3	0.0	0.0	0	99	0.00	0.00	-80.20	0.000	2	0.000	0.000	124	2574	3450
102	-1.39	-243.3	4.0	-9.3	12	130	16.15	0.00	-6.95	0.000	6	0.182	0.000	2794	2574	3931
200	-1.39	-243.3	32.4	-17.3	23	204	0.00	2.38	0.00	0.000	4	0.000	0.060	2794	3876	3933
261	-1.39	-243.3	43.1	-17.6	28	269	0.00	2.25	0.00	0.000	6	0.000	0.029	2794	2534	3933
459	-1.39	-243.3	72.6	-14.5	47	460	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2534	3936
778	-1.39	-243.3	115.6	-13.2	77	779	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2534	3936
1095	-1.39	-243.3	155.1	-12.7	107	1100	0.00	2.47	0.00	0.000	4	0.000	0.067	2794	3873	3936
1262	-1.39	-243.3	175.6	-12.2	121	1270	0.00	2.25	0.00	0.000	6	0.000	0.029	2794	2547	3936
1587	-1.39	-243.3	211.4	-10.6	152	1591	0.00	2.45	0.00	0.000	4	0.000	0.067	2794	3873	3936
1627	-1.39	-243.3	215.7	-11.1	155	1631	0.00	2.22	0.00	0.000	6	0.000	0.030	2794	2548	3935
1952	-1.39	-243.3	248.6	-8.9	185	1953	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2547	3936
2271	-1.39	-243.3	279.0	-9.4	215	2276	0.00	2.47	0.00	0.000	4	0.000	0.071	2794	3873	3935
2334	-1.39	-243.3	285.3	-10.2	220	2339	0.00	2.25	0.00	0.000	6	0.000	0.033	2794	2548	3936
2659	-1.39	-243.3	314.8	-9.5	250	2663	0.00	2.47	0.00	0.000	4	0.000	0.072	2794	3871	3935
2721	-1.39	-243.3	321.0	-9.5	255	2728	0.00	2.25	0.00	0.000	6	0.000	0.035	2794	2554	3936
3046	-1.39	-243.3	353.7	-9.7	286	3047	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2554	3931
3364	-1.39	-243.3	383.9	-9.9	316	3368	0.00	2.50	0.00	0.000	4	0.000	0.076	2794	3876	3930
3488	-1.39	-243.3	396.2	-10.3	327	3493	0.00	2.30	0.00	0.000	6	0.000	0.038	2794	2545	3928
3813	-1.39	-243.3	426.4	-8.6	357	3817	0.00	2.53	0.00	0.000	4	0.000	0.077	2794	3876	3926
3920	-1.39	-243.3	435.6	-8.8	366	3924	0.00	2.30	0.00	0.000	6	0.000	0.038	2794	2548	3925
4245	-1.39	-243.3	461.3	-7.9	396	4246	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2548	3922
4564	-1.39	-243.3	487.3	-8.0	426	4565	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2548	3920
4882	-1.39	-243.3	513.2	-8.3	456	4886	0.00	2.55	0.00	0.000	4	0.000	0.084	2794	3876	3918
4934	-1.39	-243.3	517.4	-8.6	460	4938	0.00	2.33	0.00	0.000	6	0.000	0.040	2794	2544	3918
5258	-1.39	-243.3	543.3	-7.8	490	5263	0.00	2.55	0.00	0.000	4	0.000	0.085	2794	3870	3916
5370	-1.39	-243.3	553.1	-8.8	499	5377	0.00	2.33	0.00	0.000	6	0.000	0.040	2794	2543	3914
5695	-1.39	-243.3	580.4	-8.4	530	5699	0.00	2.58	0.00	0.000	4	0.000	0.087	2794	3870	3913
5802	-1.39	-243.3	589.7	-8.7	539	5806	0.00	2.33	0.00	0.000	6	0.000	0.041	2794	2549	3912
6126	-1.39	-243.3	616.4	-8.1	569	6128	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2549	3910
6445	-1.39	-243.3	641.7	-8.3	599	6449	0.00	2.60	0.00	0.000	4	0.000	0.096	2794	3868	3909
6568	-1.39	-243.3	652.9	-9.3	609	6575	0.00	2.35	0.00	0.000	6	0.000	0.042	2793	2545	3908
6646	end dive: TARGET_DEPTH_EXCEEDED
state	6646	begin apogee
6651	-0.42	0.0	660.0	9.2	617	6972	1.02	0.00	314.20	0.923	6	0.081	0.000	3009	2545	2936
6973	end apogee: CONTROL_FINISHED_OK
state	6974	begin climb
6976	1.39	243.3	681.2	0.0	649	7315	1.77	0.00	326.62	0.884	6	0.055	0.000	3402	2545	1944
7632	1.39	243.3	633.3	10.7	712	7637	0.00	2.62	0.00	0.000	4	0.000	0.090	3402	3873	1938
7709	1.39	243.3	624.3	11.9	718	7717	0.00	2.45	0.00	0.000	6	0.000	0.042	3401	2519	1938
8034	1.39	243.3	585.7	12.6	749	8036	0.00	0.00	0.00	0.000	6	0.000	0.000	3402	2517	1936
8353	1.39	243.3	545.1	13.2	779	8354	0.00	0.00	0.00	0.000	6	0.000	0.000	3402	2516	1935
8671	1.39	243.3	503.3	12.4	809	8676	0.00	2.60	0.00	0.000	4	0.000	0.077	3402	3877	1934
8733	1.39	243.3	495.3	13.2	814	8738	0.00	2.42	0.00	0.000	6	0.000	0.042	3402	2505	1933
9058	1.39	243.3	457.0	11.8	844	9062	0.00	2.53	0.00	0.000	4	0.000	0.056	3402	1112	1933
9100	1.39	243.3	451.7	11.8	847	9108	0.00	2.50	0.00	0.000	6	0.000	0.046	3402	2502	1933
9426	1.39	243.3	412.7	12.0	878	9430	0.00	2.53	0.00	0.000	4	0.000	0.051	3402	1111	1933
9477	1.39	243.3	406.7	12.0	882	9481	0.00	2.55	0.00	0.000	6	0.000	0.046	3402	2530	1933
9801	1.39	243.3	372.2	10.4	912	9806	0.00	2.60	0.00	0.000	4	0.000	0.079	3402	3897	1932
9878	1.39	243.3	362.6	12.6	918	9886	0.00	2.45	0.00	0.000	6	0.000	0.041	3402	2520	1932
10203	1.39	243.3	325.8	10.7	949	10207	0.00	2.53	0.00	0.000	4	0.000	0.053	3402	1116	1932
10269	1.39	243.3	318.2	12.2	954	10277	0.00	2.53	0.00	0.000	6	0.000	0.044	3402	2529	1932
10594	1.39	243.3	284.2	10.2	985	10599	0.00	2.55	0.00	0.000	4	0.000	0.074	3402	3885	1931
10646	1.39	243.3	278.9	10.2	989	10651	0.00	2.40	0.00	0.000	6	0.000	0.039	3402	2512	1931
10971	1.39	243.8	246.7	10.0	1019	10975	0.00	2.60	0.00	0.000	4	0.000	0.071	3402	3890	1931
11036	1.39	243.8	239.1	11.2	1024	11044	0.00	2.42	0.00	0.000	6	0.000	0.038	3402	2515	1931
11362	1.41	263.7	207.2	9.4	1055	11391	0.00	2.53	23.60	0.721	4	0.000	0.047	3402	1121	1860
11437	1.45	298.1	200.3	9.0	1061	11488	0.00	2.50	45.25	0.708	6	0.000	0.041	3402	2524	1720
11814	1.46	300.2	164.2	9.9	1096	11819	0.00	2.55	0.00	0.000	4	0.000	0.068	3402	3894	1716
11880	1.46	300.2	157.3	10.6	1101	11888	0.00	2.42	0.00	0.000	6	0.000	0.035	3402	2510	1716
12205	1.46	300.2	126.3	10.1	1132	12210	0.00	2.55	0.00	0.000	4	0.000	0.063	3402	3887	1716
12257	1.46	300.2	120.8	10.4	1136	12262	0.00	2.35	0.00	0.000	6	0.000	0.033	3402	2516	1716
12582	1.47	314.0	87.6	9.6	1166	12607	0.00	2.62	20.52	0.598	4	0.000	0.061	3402	3890	1656
12679	1.47	314.0	77.0	10.3	1174	12687	0.00	2.38	0.00	0.000	6	0.000	0.031	3402	2517	1655
13005	1.48	316.9	49.4	9.9	1205	13016	0.00	0.00	5.57	0.463	6	0.000	0.000	3402	2517	1643
13207	1.59	408.8	32.5	7.4	1224	13326	0.20	0.00	114.85	0.549	6	0.041	0.000	3461	2516	1269
13480	end climb: SURFACE_DEPTH_REACHED
state	13480	begin surface coast
13521	end surface coast: CONTROL_FINISHED_OK
state	13521	begin surface