Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 29 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 21 ESCAPE_HEADING 180 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 29 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2700 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 17 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 54 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT 1.4

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 582 DEVICE2 -1

T_MISSION 275 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 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 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -86411.547 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 428 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2950 PRESSURE_YINT -8.3219604 SEABIRD_T_G 0.0043077655

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063814409

MASS 51726 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4031482e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4698193e-06

FERRY_MAX 45 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826059

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1260695

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0021108589

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021799213

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3730 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 428 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 660 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.3219604 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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -86411.547

CAPMAXSIZE 100000 HD_C 9.8541004e-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 118 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2950 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2700 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2500 MASS 51726 R_PORT_OVSHOOT 54 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 21 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4698193e-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 225807,2152.345,-15945.541,25,1.2,25,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 5 TGT_RADIUS 2000.000

_XMS_NAKs 3 KALMAN_CONTROL 0.302,-0.123

_XMS_TOUTs 0 KALMAN_X -37391.2,-674.3,-10.7,30949.5,-2685.0

_SM_DEPTHo 0.20 KALMAN_Y 17425.1,453.1,-65.6,-24481.1,990.9

_SM_ANGLEo -60.2 MHEAD_RNG_PITCHd_Wd 102.4,8702,-13.9,-10.000

GPS2 232619,2152.487,-15946.105,10,1.2,15,9.8 D_GRID 660

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 1.7,1.022944 MM_CLLLayer 0.03

SM_CCo 11993,0.00,0.000,0,0,1165,434.43 MM_CfgFile 0.30

SM_GC 0.36,12.73,0.00,0.00,0.024,0.000,0.000,419,2514,1165,-11.55,0.40,434.43 _24V_AH 23.8,20.337

IRIDIUM_FIX 2143.45,-15945.93,241098,232354 _10V_AH 10.0,24.643

TT8_MAMPS 0.066729 DATA_FILE_SIZE 34658,1085

HUMID 1793 CAP_FILE_SIZE 400335,0

INTERNAL_PRESSURE 9.99408 CFSIZE -70647808,-86573056

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 310709,024844,2152.150,-15945.478,39,2.0,52,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 82.03 SBE_CT 753 24 430.25

Roll_motor 100 68 163.97 nil 0 0 0.00

VBD_pump_during_apogee 540 960 12352.43 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 135 103 331.19 nil 0 0 0.00

Iridium_during_connect 150 160 573.26 GUMSTIX 177 1000 4225.10

Iridium_during_xfer 1000 223 5309.58

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 88 1000 2103.40

GPS 15 50 7.63

TT8 2117 18 381.06

LPSleep 6226 0 24.28

TT8_Active 587 18 105.68

TT8_Sampling 1902 38 722.79

TT8_CF8 2842 44 1250.72

TT8_Kalman 33 80 26.67

Analog_circuits 1649 12 197.90

GPS_charging 0 0 0.00

Compass 1852 8 148.17

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

20 -1.69 -243.3 0.0 0.0 0 100 0.00 0.00 -76.85 0.000 2 0.000 0.000 424 2478 3465

106 -1.69 -243.3 3.9 -9.6 11 128 11.18 0.00 -6.35 0.000 6 0.126 0.000 2576 2478 3931

202 -1.69 -243.3 34.0 -20.6 21 208 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2478 3932

403 -1.69 -243.3 71.0 -15.4 40 409 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2478 3932

731 -1.69 -243.3 125.8 -16.4 71 737 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2478 3932

1059 -1.69 -243.3 172.8 -14.3 102 1064 0.00 2.55 0.00 0.000 4 0.000 0.044 2576 3901 3933

1107 -1.69 -243.3 179.7 -13.9 105 1114 0.00 2.38 0.00 0.000 6 0.000 0.024 2576 2505 3932

1435 -1.69 -243.3 221.4 -13.5 136 1439 0.00 2.38 0.00 0.000 4 0.000 0.044 2576 1116 3932

1481 -1.69 -243.3 227.5 -12.2 139 1489 0.00 2.30 0.00 0.000 6 0.000 0.025 2576 2506 3932

1810 -1.69 -243.3 267.4 -11.3 170 1814 0.00 2.50 0.00 0.000 4 0.000 0.049 2576 3891 3930

1874 -1.69 -243.3 273.9 -10.3 174 1881 0.00 2.40 0.00 0.000 6 0.000 0.026 2576 2502 3930

2202 -1.69 -243.3 311.7 -11.6 205 2208 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2502 3929

2530 -1.69 -243.3 349.7 -11.6 236 2537 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2502 3926

2859 -1.69 -243.3 388.2 -11.8 267 2863 0.00 2.58 0.00 0.000 4 0.000 0.054 2576 3891 3923

2918 -1.69 -243.3 394.7 -12.0 271 2922 0.00 2.42 0.00 0.000 6 0.000 0.030 2576 2499 3923

3246 -1.69 -243.3 433.6 -11.8 301 3252 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2500 3920

3574 -1.69 -243.3 471.3 -11.8 332 3581 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2500 3916

3903 -1.69 -243.3 508.1 -11.2 363 3907 0.00 2.62 0.00 0.000 4 0.000 0.060 2576 3898 3914

3962 -1.69 -243.3 514.5 -11.5 367 3966 0.00 2.47 0.00 0.000 6 0.000 0.034 2576 2495 3913

4290 -1.69 -243.3 550.6 -10.6 397 4294 0.00 2.65 0.00 0.000 4 0.000 0.061 2576 3898 3912

4367 -1.69 -243.3 559.1 -11.5 403 4372 0.00 2.50 0.00 0.000 6 0.000 0.035 2576 2491 3909

4696 -1.69 -243.3 593.0 -10.3 433 4700 0.00 2.65 0.00 0.000 4 0.000 0.063 2576 3891 3907

4784 -1.69 -243.3 602.3 -10.7 440 4789 0.00 2.47 0.00 0.000 6 0.000 0.035 2576 2504 3906

5113 -1.69 -243.3 638.0 -12.1 470 5117 0.00 2.65 0.00 0.000 4 0.000 0.068 2576 3891 3904

5172 -1.69 -243.3 644.6 -11.8 474 5176 0.00 2.50 0.00 0.000 6 0.000 0.039 2576 2496 3904

5293 end dive: TARGET_DEPTH_EXCEEDED

state 5293 begin apogee

5305 -0.50 0.0 660.6 12.1 485 5498 1.20 0.00 187.68 0.960 6 0.064 0.000 2838 2699 2937

5504 end apogee: CONTROL_FINISHED_OK

state 5504 begin climb

5510 1.69 243.3 674.1 0.0 504 5724 2.12 2.70 193.88 0.940 4 0.044 0.065 3323 1292 1943

5916 1.69 243.3 646.6 11.2 537 5923 0.00 2.50 0.00 0.000 6 0.000 0.042 3323 2705 1938

6244 1.69 243.3 608.3 11.8 568 6248 0.00 2.38 0.00 0.000 4 0.000 0.068 3323 3942 1936

6378 1.69 243.3 591.6 12.7 578 6385 0.00 2.28 0.00 0.000 6 0.000 0.035 3323 2681 1936

6706 1.69 243.3 554.8 10.5 609 6710 0.00 2.42 0.00 0.000 4 0.000 0.065 3323 3946 1934

6797 1.69 243.3 544.5 11.2 616 6802 0.00 2.25 0.00 0.000 6 0.000 0.035 3323 2688 1934

7126 1.71 259.1 512.5 9.6 646 7143 0.00 2.42 12.43 0.806 4 0.000 0.064 3323 3946 1879

7231 1.71 259.1 500.6 11.2 654 7238 0.00 2.25 0.00 0.000 6 0.000 0.034 3323 2692 1878

7559 1.71 259.1 464.0 11.0 685 7564 0.00 2.38 0.00 0.000 4 0.000 0.062 3323 3939 1876

7592 1.71 259.1 460.6 11.2 687 7596 0.00 2.22 0.00 0.000 6 0.000 0.033 3323 2693 1876

7920 1.73 274.0 428.8 9.6 717 7937 0.00 0.00 13.50 0.775 6 0.000 0.000 3323 2694 1820

8258 1.73 274.0 392.9 11.2 749 8263 0.00 2.38 0.00 0.000 4 0.000 0.061 3323 3943 1817

8323 1.73 274.0 385.8 12.6 753 8330 0.00 2.22 0.00 0.000 6 0.000 0.032 3323 2692 1817

8652 1.73 275.0 349.4 10.0 784 8656 0.00 2.38 0.00 0.000 4 0.000 0.059 3323 3949 1816

8718 1.73 275.0 342.0 11.5 789 8722 0.00 2.22 0.00 0.000 6 0.000 0.031 3323 2688 1816

9047 1.74 281.5 308.6 9.8 819 9060 0.00 2.40 7.32 0.629 4 0.000 0.058 3323 3945 1789

9133 1.74 281.5 299.7 10.2 826 9137 0.00 2.20 0.00 0.000 6 0.000 0.030 3323 2696 1788

9462 1.77 309.9 268.5 9.2 856 9489 0.00 0.00 25.12 0.703 6 0.000 0.000 3323 2696 1674

9810 1.77 309.9 232.4 11.6 889 9816 0.00 0.00 0.00 0.000 6 0.000 0.000 3323 2696 1669

10138 1.77 309.9 196.7 10.7 920 10142 0.00 2.33 0.00 0.000 4 0.000 0.054 3323 3939 1668

10250 1.77 309.9 184.5 11.1 929 10254 0.00 2.17 0.00 0.000 6 0.000 0.028 3323 2685 1668

10584 1.77 309.9 150.3 10.2 960 10588 0.00 2.33 0.00 0.000 4 0.000 0.051 3323 3941 1668

10720 1.77 309.9 136.1 10.1 971 10723 0.00 2.15 0.00 0.000 6 0.000 0.025 3323 2697 1668

11054 1.92 431.5 109.9 6.6 1002 11164 0.17 2.42 100.55 0.557 4 0.037 0.042 3382 1314 1177

11237 1.92 431.5 87.4 14.9 1017 11241 0.00 2.38 0.00 0.000 6 0.000 0.027 3382 2720 1173

11565 1.92 431.5 43.9 11.6 1047 11569 0.00 2.22 0.00 0.000 4 0.000 0.052 3382 3926 1171

11643 1.92 431.5 33.7 13.0 1053 11647 0.00 2.12 0.00 0.000 6 0.000 0.024 3382 2695 1171

11862 1.92 431.5 7.0 11.5 1080 11869 0.00 2.28 0.00 0.000 4 0.000 0.046 3382 3936 1171

11874 end climb: SURFACE_DEPTH_REACHED

state 11874 begin surface coast

11896 end surface coast: CONTROL_FINISHED_OK

state 11896 begin surface

ID	118	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	21	ESCAPE_HEADING	180	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	29	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2700	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	17	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	54	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	1.4
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	582	DEVICE2	-1
T_MISSION	275	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	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	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-86411.547	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	428	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2950	PRESSURE_YINT	-8.3219604	SEABIRD_T_G	0.0043077655
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063814409
MASS	51726	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4031482e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4698193e-06
FERRY_MAX	45	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826059
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1260695
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0021108589
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021799213
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	225807,2152.345,-15945.541,25,1.2,25,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	5	TGT_RADIUS	2000.000
_XMS_NAKs	3	KALMAN_CONTROL	0.302,-0.123
_XMS_TOUTs	0	KALMAN_X	-37391.2,-674.3,-10.7,30949.5,-2685.0
_SM_DEPTHo	0.20	KALMAN_Y	17425.1,453.1,-65.6,-24481.1,990.9
_SM_ANGLEo	-60.2	MHEAD_RNG_PITCHd_Wd	102.4,8702,-13.9,-10.000
GPS2	232619,2152.487,-15946.105,10,1.2,15,9.8	D_GRID	660
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	1.7,1.022944	MM_CLLLayer	0.03
SM_CCo	11993,0.00,0.000,0,0,1165,434.43	MM_CfgFile	0.30
SM_GC	0.36,12.73,0.00,0.00,0.024,0.000,0.000,419,2514,1165,-11.55,0.40,434.43	_24V_AH	23.8,20.337
IRIDIUM_FIX	2143.45,-15945.93,241098,232354	_10V_AH	10.0,24.643
TT8_MAMPS	0.066729	DATA_FILE_SIZE	34658,1085
HUMID	1793	CAP_FILE_SIZE	400335,0
INTERNAL_PRESSURE	9.99408	CFSIZE	-70647808,-86573056
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	310709,024844,2152.150,-15945.478,39,2.0,52,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	82.03	SBE_CT	753	24	430.25
Roll_motor	100	68	163.97	nil	0	0	0.00
VBD_pump_during_apogee	540	960	12352.43	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	135	103	331.19	nil	0	0	0.00
Iridium_during_connect	150	160	573.26	GUMSTIX	177	1000	4225.10
Iridium_during_xfer	1000	223	5309.58
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	88	1000	2103.40
GPS	15	50	7.63
TT8	2117	18	381.06
LPSleep	6226	0	24.28
TT8_Active	587	18	105.68
TT8_Sampling	1902	38	722.79
TT8_CF8	2842	44	1250.72
TT8_Kalman	33	80	26.67
Analog_circuits	1649	12	197.90
GPS_charging	0	0	0.00
Compass	1852	8	148.17
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
20	-1.69	-243.3	0.0	0.0	0	100	0.00	0.00	-76.85	0.000	2	0.000	0.000	424	2478	3465
106	-1.69	-243.3	3.9	-9.6	11	128	11.18	0.00	-6.35	0.000	6	0.126	0.000	2576	2478	3931
202	-1.69	-243.3	34.0	-20.6	21	208	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2478	3932
403	-1.69	-243.3	71.0	-15.4	40	409	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2478	3932
731	-1.69	-243.3	125.8	-16.4	71	737	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2478	3932
1059	-1.69	-243.3	172.8	-14.3	102	1064	0.00	2.55	0.00	0.000	4	0.000	0.044	2576	3901	3933
1107	-1.69	-243.3	179.7	-13.9	105	1114	0.00	2.38	0.00	0.000	6	0.000	0.024	2576	2505	3932
1435	-1.69	-243.3	221.4	-13.5	136	1439	0.00	2.38	0.00	0.000	4	0.000	0.044	2576	1116	3932
1481	-1.69	-243.3	227.5	-12.2	139	1489	0.00	2.30	0.00	0.000	6	0.000	0.025	2576	2506	3932
1810	-1.69	-243.3	267.4	-11.3	170	1814	0.00	2.50	0.00	0.000	4	0.000	0.049	2576	3891	3930
1874	-1.69	-243.3	273.9	-10.3	174	1881	0.00	2.40	0.00	0.000	6	0.000	0.026	2576	2502	3930
2202	-1.69	-243.3	311.7	-11.6	205	2208	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2502	3929
2530	-1.69	-243.3	349.7	-11.6	236	2537	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2502	3926
2859	-1.69	-243.3	388.2	-11.8	267	2863	0.00	2.58	0.00	0.000	4	0.000	0.054	2576	3891	3923
2918	-1.69	-243.3	394.7	-12.0	271	2922	0.00	2.42	0.00	0.000	6	0.000	0.030	2576	2499	3923
3246	-1.69	-243.3	433.6	-11.8	301	3252	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2500	3920
3574	-1.69	-243.3	471.3	-11.8	332	3581	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2500	3916
3903	-1.69	-243.3	508.1	-11.2	363	3907	0.00	2.62	0.00	0.000	4	0.000	0.060	2576	3898	3914
3962	-1.69	-243.3	514.5	-11.5	367	3966	0.00	2.47	0.00	0.000	6	0.000	0.034	2576	2495	3913
4290	-1.69	-243.3	550.6	-10.6	397	4294	0.00	2.65	0.00	0.000	4	0.000	0.061	2576	3898	3912
4367	-1.69	-243.3	559.1	-11.5	403	4372	0.00	2.50	0.00	0.000	6	0.000	0.035	2576	2491	3909
4696	-1.69	-243.3	593.0	-10.3	433	4700	0.00	2.65	0.00	0.000	4	0.000	0.063	2576	3891	3907
4784	-1.69	-243.3	602.3	-10.7	440	4789	0.00	2.47	0.00	0.000	6	0.000	0.035	2576	2504	3906
5113	-1.69	-243.3	638.0	-12.1	470	5117	0.00	2.65	0.00	0.000	4	0.000	0.068	2576	3891	3904
5172	-1.69	-243.3	644.6	-11.8	474	5176	0.00	2.50	0.00	0.000	6	0.000	0.039	2576	2496	3904
5293	end dive: TARGET_DEPTH_EXCEEDED
state	5293	begin apogee
5305	-0.50	0.0	660.6	12.1	485	5498	1.20	0.00	187.68	0.960	6	0.064	0.000	2838	2699	2937
5504	end apogee: CONTROL_FINISHED_OK
state	5504	begin climb
5510	1.69	243.3	674.1	0.0	504	5724	2.12	2.70	193.88	0.940	4	0.044	0.065	3323	1292	1943
5916	1.69	243.3	646.6	11.2	537	5923	0.00	2.50	0.00	0.000	6	0.000	0.042	3323	2705	1938
6244	1.69	243.3	608.3	11.8	568	6248	0.00	2.38	0.00	0.000	4	0.000	0.068	3323	3942	1936
6378	1.69	243.3	591.6	12.7	578	6385	0.00	2.28	0.00	0.000	6	0.000	0.035	3323	2681	1936
6706	1.69	243.3	554.8	10.5	609	6710	0.00	2.42	0.00	0.000	4	0.000	0.065	3323	3946	1934
6797	1.69	243.3	544.5	11.2	616	6802	0.00	2.25	0.00	0.000	6	0.000	0.035	3323	2688	1934
7126	1.71	259.1	512.5	9.6	646	7143	0.00	2.42	12.43	0.806	4	0.000	0.064	3323	3946	1879
7231	1.71	259.1	500.6	11.2	654	7238	0.00	2.25	0.00	0.000	6	0.000	0.034	3323	2692	1878
7559	1.71	259.1	464.0	11.0	685	7564	0.00	2.38	0.00	0.000	4	0.000	0.062	3323	3939	1876
7592	1.71	259.1	460.6	11.2	687	7596	0.00	2.22	0.00	0.000	6	0.000	0.033	3323	2693	1876
7920	1.73	274.0	428.8	9.6	717	7937	0.00	0.00	13.50	0.775	6	0.000	0.000	3323	2694	1820
8258	1.73	274.0	392.9	11.2	749	8263	0.00	2.38	0.00	0.000	4	0.000	0.061	3323	3943	1817
8323	1.73	274.0	385.8	12.6	753	8330	0.00	2.22	0.00	0.000	6	0.000	0.032	3323	2692	1817
8652	1.73	275.0	349.4	10.0	784	8656	0.00	2.38	0.00	0.000	4	0.000	0.059	3323	3949	1816
8718	1.73	275.0	342.0	11.5	789	8722	0.00	2.22	0.00	0.000	6	0.000	0.031	3323	2688	1816
9047	1.74	281.5	308.6	9.8	819	9060	0.00	2.40	7.32	0.629	4	0.000	0.058	3323	3945	1789
9133	1.74	281.5	299.7	10.2	826	9137	0.00	2.20	0.00	0.000	6	0.000	0.030	3323	2696	1788
9462	1.77	309.9	268.5	9.2	856	9489	0.00	0.00	25.12	0.703	6	0.000	0.000	3323	2696	1674
9810	1.77	309.9	232.4	11.6	889	9816	0.00	0.00	0.00	0.000	6	0.000	0.000	3323	2696	1669
10138	1.77	309.9	196.7	10.7	920	10142	0.00	2.33	0.00	0.000	4	0.000	0.054	3323	3939	1668
10250	1.77	309.9	184.5	11.1	929	10254	0.00	2.17	0.00	0.000	6	0.000	0.028	3323	2685	1668
10584	1.77	309.9	150.3	10.2	960	10588	0.00	2.33	0.00	0.000	4	0.000	0.051	3323	3941	1668
10720	1.77	309.9	136.1	10.1	971	10723	0.00	2.15	0.00	0.000	6	0.000	0.025	3323	2697	1668
11054	1.92	431.5	109.9	6.6	1002	11164	0.17	2.42	100.55	0.557	4	0.037	0.042	3382	1314	1177
11237	1.92	431.5	87.4	14.9	1017	11241	0.00	2.38	0.00	0.000	6	0.000	0.027	3382	2720	1173
11565	1.92	431.5	43.9	11.6	1047	11569	0.00	2.22	0.00	0.000	4	0.000	0.052	3382	3926	1171
11643	1.92	431.5	33.7	13.0	1053	11647	0.00	2.12	0.00	0.000	6	0.000	0.024	3382	2695	1171
11862	1.92	431.5	7.0	11.5	1080	11869	0.00	2.28	0.00	0.000	4	0.000	0.046	3382	3936	1171
11874	end climb: SURFACE_DEPTH_REACHED
state	11874	begin surface coast
11896	end surface coast: CONTROL_FINISHED_OK
state	11896	begin surface