Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 30 * 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 30 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 31 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 -58105.945 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 -58105.945

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 31 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 30 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 073336,2150.764,-15942.345,28,1.0,28,9.8 TGT_LATLONG 2154.000,-15942.000

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 4 KALMAN_CONTROL 0.112,0.305

_XMS_TOUTs 0 KALMAN_X -41782.7,-220.7,-86.8,41086.0,-853.8

_SM_DEPTHo 0.90 KALMAN_Y 6921.2,252.9,177.3,-17046.1,-176.1

_SM_ANGLEo -67.4 MHEAD_RNG_PITCHd_Wd 10.3,5953,-13.1,-10.000

GPS2 074402,2150.826,-15942.549,12,1.3,12,9.8 D_GRID 660

SPEED_LIMITS 0.173,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T0

Post-dive calculations and measurements:

FINISH -0.2,1.000826 MM_CLLLayer 0.03

SM_CCo 13460,0.00,0.000,0,0,1119,445.71 MM_CfgFile 0.30

SM_GC 1.09,14.77,0.00,0.00,0.041,0.000,0.000,127,2563,1119,-13.63,0.37,445.71 _24V_AH 23.6,13.216

IRIDIUM_FIX 2141.13,-15941.58,251098,030344 _10V_AH 10.0,3.903

TT8_MAMPS 0.059059 DATA_FILE_SIZE 37843,1249

HUMID 1837 CAP_FILE_SIZE 447690,0

INTERNAL_PRESSURE 11.3579 CFSIZE 260034560,253829120

TCM_TEMP 23.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 310709,113024,2152.823,-15941.984,36,1.9,36,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 181 145.32 SBE_CT 838 24 475.01

Roll_motor 122 109 317.41 nil 0 0 0.00

VBD_pump_during_apogee 898 925 19619.64 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 24 103 60.62 nil 0 0 0.00

Iridium_during_connect 31 160 118.35 GUMSTIX 170 1000 4021.30

Iridium_during_xfer 405 223 2134.34

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 90 1000 2144.74

GPS 12 50 6.06

TT8 2390 18 430.29

LPSleep 7360 0 28.71

TT8_Active 879 18 158.34

TT8_Sampling 2220 38 843.79

TT8_CF8 1214 44 534.18

TT8_Kalman 33 80 26.69

Analog_circuits 2124 12 254.92

GPS_charging 0 0 0.00

Compass 2157 8 172.61

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 92 0.00 0.00 -73.20 0.000 2 0.000 0.000 125 2569 3292

95 -1.39 -243.3 3.0 -6.1 11 132 16.10 2.45 -9.90 0.000 4 0.182 0.072 2791 3878 3932

175 -1.39 -243.3 26.3 -17.4 21 183 0.00 2.28 0.00 0.000 6 0.000 0.028 2791 2543 3934

373 -1.39 -243.3 58.8 -13.9 40 378 0.00 2.45 0.00 0.000 4 0.000 0.061 2791 3881 3935

417 -1.39 -243.3 65.2 -14.7 43 425 0.00 2.28 0.00 0.000 6 0.000 0.029 2791 2550 3935

744 -1.39 -243.3 106.3 -11.0 74 749 0.00 2.45 0.00 0.000 4 0.000 0.064 2791 3883 3934

878 -1.39 -243.3 123.8 -12.3 85 886 0.00 2.25 0.00 0.000 6 0.000 0.029 2792 2535 3934

1203 -1.39 -243.3 159.3 -10.0 116 1207 0.00 2.47 0.00 0.000 4 0.000 0.064 2791 3877 3934

1246 -1.39 -243.3 164.3 -11.4 119 1254 0.00 2.25 0.00 0.000 6 0.000 0.029 2791 2551 3934

1571 -1.39 -243.3 197.2 -10.3 150 1576 0.00 2.45 0.00 0.000 4 0.000 0.067 2791 3876 3934

1704 -1.39 -243.3 212.7 -11.1 161 1712 0.00 2.25 0.00 0.000 6 0.000 0.031 2791 2563 3934

2030 -1.39 -243.3 245.7 -10.2 192 2031 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2563 3934

2348 -1.39 -243.3 279.4 -11.0 222 2352 0.00 2.47 0.00 0.000 4 0.000 0.071 2791 3884 3934

2442 -1.39 -243.3 290.4 -12.2 230 2450 0.00 2.30 0.00 0.000 6 0.000 0.034 2791 2555 3934

2768 -1.39 -243.3 323.5 -9.4 261 2772 0.00 2.47 0.00 0.000 4 0.000 0.073 2791 3876 3934

2853 -1.39 -243.3 331.7 -9.9 268 2857 0.00 2.28 0.00 0.000 6 0.000 0.035 2791 2549 3934

3178 -1.39 -243.3 362.4 -9.7 298 3179 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2549 3930

3496 -1.39 -243.3 390.1 -8.0 328 3501 0.00 2.53 0.00 0.000 4 0.000 0.076 2791 3884 3927

3620 -1.39 -243.3 401.2 -8.8 338 3627 0.00 2.30 0.00 0.000 6 0.000 0.038 2791 2553 3927

3945 -1.39 -243.3 428.0 -8.6 369 3949 0.00 2.53 0.00 0.000 4 0.000 0.078 2791 3884 3924

4044 -1.39 -243.3 437.5 -9.7 377 4052 0.00 2.33 0.00 0.000 6 0.000 0.038 2791 2546 3924

4370 -1.39 -243.3 466.8 -9.2 408 4374 0.00 2.55 0.00 0.000 4 0.000 0.080 2791 3883 3921

4488 -1.39 -243.3 478.3 -9.0 418 4493 0.00 2.33 0.00 0.000 6 0.000 0.039 2791 2549 3921

4813 -1.39 -243.3 505.8 -7.6 448 4818 0.00 2.55 0.00 0.000 4 0.000 0.082 2791 3875 3918

4887 -1.39 -243.3 511.9 -8.5 454 4891 0.00 2.33 0.00 0.000 6 0.000 0.040 2791 2544 3918

5212 -1.39 -243.3 538.2 -7.8 484 5216 0.00 2.58 0.00 0.000 4 0.000 0.085 2791 3880 3916

5285 -1.39 -243.3 544.6 -8.5 490 5289 0.00 2.33 0.00 0.000 6 0.000 0.041 2791 2552 3916

5610 -1.39 -243.3 570.5 -7.4 520 5614 0.00 2.58 0.00 0.000 4 0.000 0.087 2791 3880 3913

5671 -1.39 -243.3 575.8 -8.4 525 5676 0.00 2.35 0.00 0.000 6 0.000 0.041 2791 2544 3913

5996 -1.39 -243.3 599.3 -6.7 555 6000 0.00 2.53 0.00 0.000 4 0.000 0.078 2791 3874 3911

6058 -1.39 -243.3 603.7 -7.0 560 6062 0.00 2.35 0.00 0.000 6 0.000 0.042 2791 2535 3911

6383 -1.39 -243.3 627.4 -7.9 590 6387 0.00 2.58 0.00 0.000 4 0.000 0.079 2791 3880 3909

6534 -1.39 -243.3 639.7 -7.9 603 6539 0.00 2.35 0.00 0.000 6 0.000 0.042 2791 2542 3908

6783 end dive: TARGET_DEPTH_EXCEEDED

state 6783 begin apogee

6787 -0.42 0.0 660.2 8.6 626 7108 1.02 0.00 313.65 0.926 6 0.080 0.000 3006 2539 2936

7109 end apogee: CONTROL_FINISHED_OK

state 7110 begin climb

7112 1.39 243.3 675.9 0.0 658 7449 1.83 2.65 325.10 0.882 4 0.055 0.057 3403 1119 1944

7499 1.39 243.3 652.5 10.7 690 7506 0.00 2.53 0.00 0.000 6 0.000 0.045 3403 2510 1942

7824 1.39 243.3 621.6 10.0 721 7828 0.00 2.65 0.00 0.000 4 0.000 0.079 3403 3894 1938

7863 1.39 243.3 617.3 11.8 724 7867 0.00 2.45 0.00 0.000 6 0.000 0.043 3403 2517 1938

8187 1.39 243.3 580.6 11.2 754 8188 0.00 0.00 0.00 0.000 6 0.000 0.000 3403 2516 1936

8507 1.39 243.3 541.8 12.6 784 8508 0.00 0.00 0.00 0.000 6 0.000 0.000 3403 2517 1935

8825 1.39 243.3 503.8 11.4 814 8826 0.00 0.00 0.00 0.000 6 0.000 0.000 3403 2516 1934

9143 1.39 243.3 468.1 10.0 844 9144 0.00 0.00 0.00 0.000 6 0.000 0.000 3403 2517 1934

9462 1.39 243.3 432.2 11.9 874 9466 0.00 2.60 0.00 0.000 4 0.000 0.077 3403 3888 1933

9601 1.39 243.3 413.9 13.7 886 9605 0.00 2.42 0.00 0.000 6 0.000 0.042 3403 2516 1933

9926 1.39 243.3 373.4 11.2 916 9930 0.00 2.62 0.00 0.000 4 0.000 0.074 3403 3895 1933

9953 1.39 243.3 370.4 11.6 918 9957 0.00 2.42 0.00 0.000 6 0.000 0.041 3403 2517 1933

10283 1.46 302.0 342.7 8.4 949 10366 0.00 2.58 73.95 0.811 4 0.000 0.052 3403 1120 1704

10406 1.50 332.1 331.6 9.2 959 10454 0.10 2.53 40.90 0.771 6 0.065 0.044 3434 2521 1581

10772 1.50 332.1 288.9 12.2 993 10776 0.00 2.58 0.00 0.000 4 0.000 0.073 3434 3888 1576

10823 1.50 332.1 282.4 12.9 997 10828 0.00 2.42 0.00 0.000 6 0.000 0.039 3434 2506 1575

11148 1.50 332.1 241.7 12.2 1027 11149 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2504 1574

11466 1.50 332.1 202.6 12.0 1057 11471 0.00 2.60 0.00 0.000 4 0.000 0.068 3435 3891 1574

11506 1.50 332.1 197.4 13.9 1060 11510 0.00 2.40 0.00 0.000 6 0.000 0.037 3434 2511 1573

11830 1.50 332.1 158.5 11.6 1090 11832 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2509 1573

12149 1.50 332.1 121.5 10.3 1120 12153 0.00 2.55 0.00 0.000 4 0.000 0.064 3434 3894 1572

12182 1.50 332.1 118.0 10.2 1123 12186 0.00 2.38 0.00 0.000 6 0.000 0.034 3434 2511 1572

12507 1.54 365.6 85.9 9.1 1153 12560 0.00 2.65 41.35 0.615 4 0.000 0.061 3434 3890 1445

12584 1.56 385.9 78.8 9.4 1160 12620 0.00 2.38 27.33 0.592 6 0.000 0.032 3434 2507 1362

12939 1.59 410.9 41.2 9.3 1193 12976 0.00 2.65 31.90 0.562 4 0.000 0.060 3434 3892 1261

13003 1.63 439.8 34.8 9.2 1198 13048 0.00 2.38 37.50 0.548 6 0.000 0.031 3434 2522 1144

13239 1.63 439.8 11.9 11.5 1226 13245 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2522 1141

13315 1.69 493.1 4.6 8.5 1239 13324 0.05 0.00 6.32 0.436 2 0.086 0.000 3460 2523 1122

13325 end climb: SURFACE_DEPTH_REACHED

state 13325 begin surface coast

13375 end surface coast: CONTROL_FINISHED_OK

state 13375 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	30	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	31	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	-58105.945	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	073336,2150.764,-15942.345,28,1.0,28,9.8	TGT_LATLONG	2154.000,-15942.000
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	4	KALMAN_CONTROL	0.112,0.305
_XMS_TOUTs	0	KALMAN_X	-41782.7,-220.7,-86.8,41086.0,-853.8
_SM_DEPTHo	0.90	KALMAN_Y	6921.2,252.9,177.3,-17046.1,-176.1
_SM_ANGLEo	-67.4	MHEAD_RNG_PITCHd_Wd	10.3,5953,-13.1,-10.000
GPS2	074402,2150.826,-15942.549,12,1.3,12,9.8	D_GRID	660
SPEED_LIMITS	0.173,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T0

FINISH	-0.2,1.000826	MM_CLLLayer	0.03
SM_CCo	13460,0.00,0.000,0,0,1119,445.71	MM_CfgFile	0.30
SM_GC	1.09,14.77,0.00,0.00,0.041,0.000,0.000,127,2563,1119,-13.63,0.37,445.71	_24V_AH	23.6,13.216
IRIDIUM_FIX	2141.13,-15941.58,251098,030344	_10V_AH	10.0,3.903
TT8_MAMPS	0.059059	DATA_FILE_SIZE	37843,1249
HUMID	1837	CAP_FILE_SIZE	447690,0
INTERNAL_PRESSURE	11.3579	CFSIZE	260034560,253829120
TCM_TEMP	23.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	310709,113024,2152.823,-15941.984,36,1.9,36,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	181	145.32	SBE_CT	838	24	475.01
Roll_motor	122	109	317.41	nil	0	0	0.00
VBD_pump_during_apogee	898	925	19619.64	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	24	103	60.62	nil	0	0	0.00
Iridium_during_connect	31	160	118.35	GUMSTIX	170	1000	4021.30
Iridium_during_xfer	405	223	2134.34
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	90	1000	2144.74
GPS	12	50	6.06
TT8	2390	18	430.29
LPSleep	7360	0	28.71
TT8_Active	879	18	158.34
TT8_Sampling	2220	38	843.79
TT8_CF8	1214	44	534.18
TT8_Kalman	33	80	26.69
Analog_circuits	2124	12	254.92
GPS_charging	0	0	0.00
Compass	2157	8	172.61
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	92	0.00	0.00	-73.20	0.000	2	0.000	0.000	125	2569	3292
95	-1.39	-243.3	3.0	-6.1	11	132	16.10	2.45	-9.90	0.000	4	0.182	0.072	2791	3878	3932
175	-1.39	-243.3	26.3	-17.4	21	183	0.00	2.28	0.00	0.000	6	0.000	0.028	2791	2543	3934
373	-1.39	-243.3	58.8	-13.9	40	378	0.00	2.45	0.00	0.000	4	0.000	0.061	2791	3881	3935
417	-1.39	-243.3	65.2	-14.7	43	425	0.00	2.28	0.00	0.000	6	0.000	0.029	2791	2550	3935
744	-1.39	-243.3	106.3	-11.0	74	749	0.00	2.45	0.00	0.000	4	0.000	0.064	2791	3883	3934
878	-1.39	-243.3	123.8	-12.3	85	886	0.00	2.25	0.00	0.000	6	0.000	0.029	2792	2535	3934
1203	-1.39	-243.3	159.3	-10.0	116	1207	0.00	2.47	0.00	0.000	4	0.000	0.064	2791	3877	3934
1246	-1.39	-243.3	164.3	-11.4	119	1254	0.00	2.25	0.00	0.000	6	0.000	0.029	2791	2551	3934
1571	-1.39	-243.3	197.2	-10.3	150	1576	0.00	2.45	0.00	0.000	4	0.000	0.067	2791	3876	3934
1704	-1.39	-243.3	212.7	-11.1	161	1712	0.00	2.25	0.00	0.000	6	0.000	0.031	2791	2563	3934
2030	-1.39	-243.3	245.7	-10.2	192	2031	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2563	3934
2348	-1.39	-243.3	279.4	-11.0	222	2352	0.00	2.47	0.00	0.000	4	0.000	0.071	2791	3884	3934
2442	-1.39	-243.3	290.4	-12.2	230	2450	0.00	2.30	0.00	0.000	6	0.000	0.034	2791	2555	3934
2768	-1.39	-243.3	323.5	-9.4	261	2772	0.00	2.47	0.00	0.000	4	0.000	0.073	2791	3876	3934
2853	-1.39	-243.3	331.7	-9.9	268	2857	0.00	2.28	0.00	0.000	6	0.000	0.035	2791	2549	3934
3178	-1.39	-243.3	362.4	-9.7	298	3179	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2549	3930
3496	-1.39	-243.3	390.1	-8.0	328	3501	0.00	2.53	0.00	0.000	4	0.000	0.076	2791	3884	3927
3620	-1.39	-243.3	401.2	-8.8	338	3627	0.00	2.30	0.00	0.000	6	0.000	0.038	2791	2553	3927
3945	-1.39	-243.3	428.0	-8.6	369	3949	0.00	2.53	0.00	0.000	4	0.000	0.078	2791	3884	3924
4044	-1.39	-243.3	437.5	-9.7	377	4052	0.00	2.33	0.00	0.000	6	0.000	0.038	2791	2546	3924
4370	-1.39	-243.3	466.8	-9.2	408	4374	0.00	2.55	0.00	0.000	4	0.000	0.080	2791	3883	3921
4488	-1.39	-243.3	478.3	-9.0	418	4493	0.00	2.33	0.00	0.000	6	0.000	0.039	2791	2549	3921
4813	-1.39	-243.3	505.8	-7.6	448	4818	0.00	2.55	0.00	0.000	4	0.000	0.082	2791	3875	3918
4887	-1.39	-243.3	511.9	-8.5	454	4891	0.00	2.33	0.00	0.000	6	0.000	0.040	2791	2544	3918
5212	-1.39	-243.3	538.2	-7.8	484	5216	0.00	2.58	0.00	0.000	4	0.000	0.085	2791	3880	3916
5285	-1.39	-243.3	544.6	-8.5	490	5289	0.00	2.33	0.00	0.000	6	0.000	0.041	2791	2552	3916
5610	-1.39	-243.3	570.5	-7.4	520	5614	0.00	2.58	0.00	0.000	4	0.000	0.087	2791	3880	3913
5671	-1.39	-243.3	575.8	-8.4	525	5676	0.00	2.35	0.00	0.000	6	0.000	0.041	2791	2544	3913
5996	-1.39	-243.3	599.3	-6.7	555	6000	0.00	2.53	0.00	0.000	4	0.000	0.078	2791	3874	3911
6058	-1.39	-243.3	603.7	-7.0	560	6062	0.00	2.35	0.00	0.000	6	0.000	0.042	2791	2535	3911
6383	-1.39	-243.3	627.4	-7.9	590	6387	0.00	2.58	0.00	0.000	4	0.000	0.079	2791	3880	3909
6534	-1.39	-243.3	639.7	-7.9	603	6539	0.00	2.35	0.00	0.000	6	0.000	0.042	2791	2542	3908
6783	end dive: TARGET_DEPTH_EXCEEDED
state	6783	begin apogee
6787	-0.42	0.0	660.2	8.6	626	7108	1.02	0.00	313.65	0.926	6	0.080	0.000	3006	2539	2936
7109	end apogee: CONTROL_FINISHED_OK
state	7110	begin climb
7112	1.39	243.3	675.9	0.0	658	7449	1.83	2.65	325.10	0.882	4	0.055	0.057	3403	1119	1944
7499	1.39	243.3	652.5	10.7	690	7506	0.00	2.53	0.00	0.000	6	0.000	0.045	3403	2510	1942
7824	1.39	243.3	621.6	10.0	721	7828	0.00	2.65	0.00	0.000	4	0.000	0.079	3403	3894	1938
7863	1.39	243.3	617.3	11.8	724	7867	0.00	2.45	0.00	0.000	6	0.000	0.043	3403	2517	1938
8187	1.39	243.3	580.6	11.2	754	8188	0.00	0.00	0.00	0.000	6	0.000	0.000	3403	2516	1936
8507	1.39	243.3	541.8	12.6	784	8508	0.00	0.00	0.00	0.000	6	0.000	0.000	3403	2517	1935
8825	1.39	243.3	503.8	11.4	814	8826	0.00	0.00	0.00	0.000	6	0.000	0.000	3403	2516	1934
9143	1.39	243.3	468.1	10.0	844	9144	0.00	0.00	0.00	0.000	6	0.000	0.000	3403	2517	1934
9462	1.39	243.3	432.2	11.9	874	9466	0.00	2.60	0.00	0.000	4	0.000	0.077	3403	3888	1933
9601	1.39	243.3	413.9	13.7	886	9605	0.00	2.42	0.00	0.000	6	0.000	0.042	3403	2516	1933
9926	1.39	243.3	373.4	11.2	916	9930	0.00	2.62	0.00	0.000	4	0.000	0.074	3403	3895	1933
9953	1.39	243.3	370.4	11.6	918	9957	0.00	2.42	0.00	0.000	6	0.000	0.041	3403	2517	1933
10283	1.46	302.0	342.7	8.4	949	10366	0.00	2.58	73.95	0.811	4	0.000	0.052	3403	1120	1704
10406	1.50	332.1	331.6	9.2	959	10454	0.10	2.53	40.90	0.771	6	0.065	0.044	3434	2521	1581
10772	1.50	332.1	288.9	12.2	993	10776	0.00	2.58	0.00	0.000	4	0.000	0.073	3434	3888	1576
10823	1.50	332.1	282.4	12.9	997	10828	0.00	2.42	0.00	0.000	6	0.000	0.039	3434	2506	1575
11148	1.50	332.1	241.7	12.2	1027	11149	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2504	1574
11466	1.50	332.1	202.6	12.0	1057	11471	0.00	2.60	0.00	0.000	4	0.000	0.068	3435	3891	1574
11506	1.50	332.1	197.4	13.9	1060	11510	0.00	2.40	0.00	0.000	6	0.000	0.037	3434	2511	1573
11830	1.50	332.1	158.5	11.6	1090	11832	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2509	1573
12149	1.50	332.1	121.5	10.3	1120	12153	0.00	2.55	0.00	0.000	4	0.000	0.064	3434	3894	1572
12182	1.50	332.1	118.0	10.2	1123	12186	0.00	2.38	0.00	0.000	6	0.000	0.034	3434	2511	1572
12507	1.54	365.6	85.9	9.1	1153	12560	0.00	2.65	41.35	0.615	4	0.000	0.061	3434	3890	1445
12584	1.56	385.9	78.8	9.4	1160	12620	0.00	2.38	27.33	0.592	6	0.000	0.032	3434	2507	1362
12939	1.59	410.9	41.2	9.3	1193	12976	0.00	2.65	31.90	0.562	4	0.000	0.060	3434	3892	1261
13003	1.63	439.8	34.8	9.2	1198	13048	0.00	2.38	37.50	0.548	6	0.000	0.031	3434	2522	1144
13239	1.63	439.8	11.9	11.5	1226	13245	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2522	1141
13315	1.69	493.1	4.6	8.5	1239	13324	0.05	0.00	6.32	0.436	2	0.086	0.000	3460	2523	1122
13325	end climb: SURFACE_DEPTH_REACHED
state	13325	begin surface coast
13375	end surface coast: CONTROL_FINISHED_OK
state	13375	begin surface