Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 30 * 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 30 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -86426.875 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 -86426.875

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 32 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 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 024844,2152.150,-15945.478,39,2.0,52,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 3 TGT_RADIUS 2000.000

_XMS_NAKs 8 KALMAN_CONTROL 0.315,-0.082

_XMS_TOUTs 0 KALMAN_X -40825.1,-813.4,-22.3,34956.9,-2678.0

_SM_DEPTHo -0.03 KALMAN_Y 18285.4,468.5,40.7,-26107.9,438.5

_SM_ANGLEo -59.1 MHEAD_RNG_PITCHd_Wd 94.7,8046,-13.9,-10.000

GPS2 031020,2152.139,-15945.857,9,1.1,9,9.8 D_GRID 660

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH -0.2,1.002093 MM_CLLLayer 0.03

SM_CCo 12588,0.00,0.000,0,0,1125,444.48 MM_CfgFile 0.30

SM_GC 0.02,12.75,0.00,0.00,0.025,0.000,0.000,419,2474,1125,-11.56,-0.71,444.48 _24V_AH 23.7,20.548

IRIDIUM_FIX 2143.45,-15945.93,251098,030341 _10V_AH 10.0,24.777

TT8_MAMPS 0.06903 DATA_FILE_SIZE 37811,1140

HUMID 1761 CAP_FILE_SIZE 418368,0

INTERNAL_PRESSURE 9.99408 CFSIZE -70647808,-86900736

TCM_TEMP 23.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 310709,064232,2152.181,-15944.178,42,1.2,50,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 126 82.33 SBE_CT 791 24 450.47

Roll_motor 111 66 175.70 nil 0 0 0.00

VBD_pump_during_apogee 559 963 12774.76 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 88 103 216.97 nil 0 0 0.00

Iridium_during_connect 86 160 326.49 GUMSTIX 172 1000 4080.83

Iridium_during_xfer 752 223 3979.60

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 89 1000 2128.43

GPS 14 50 7.35

TT8 2226 18 400.82

LPSleep 6420 0 25.04

TT8_Active 623 18 112.27

TT8_Sampling 2006 38 762.49

TT8_CF8 2580 44 1135.41

TT8_Kalman 33 80 26.68

Analog_circuits 1741 12 208.96

GPS_charging 0 0 0.00

Compass 1957 8 156.58

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 99 0.00 0.00 -76.43 0.000 2 0.000 0.000 420 2514 3342

106 -1.69 -243.3 3.0 -8.1 11 128 11.25 0.00 -8.55 0.000 6 0.127 0.000 2580 2513 3932

203 -1.69 -243.3 31.1 -19.2 22 207 0.00 2.50 0.00 0.000 4 0.000 0.043 2579 3899 3932

238 -1.69 -243.3 37.6 -17.6 24 246 0.00 2.45 0.00 0.000 6 0.000 0.022 2579 2473 3932

439 -1.69 -243.3 72.7 -16.0 43 443 0.00 2.33 0.00 0.000 4 0.000 0.041 2579 1107 3932

464 -1.69 -243.3 76.8 -15.7 44 471 0.00 2.33 0.00 0.000 6 0.000 0.023 2579 2518 3932

792 -1.69 -243.3 123.5 -13.9 75 796 0.00 2.45 0.00 0.000 4 0.000 0.041 2579 1100 3933

855 -1.69 -243.3 131.9 -14.0 79 862 0.00 2.30 0.00 0.000 6 0.000 0.022 2579 2498 3933

1183 -1.69 -243.3 176.3 -12.9 110 1187 0.00 2.50 0.00 0.000 4 0.000 0.046 2579 3893 3933

1243 -1.69 -243.3 183.5 -13.0 114 1247 0.00 2.40 0.00 0.000 6 0.000 0.023 2579 2486 3933

1571 -1.69 -243.3 226.1 -11.6 144 1575 0.00 2.38 0.00 0.000 4 0.000 0.044 2579 1101 3933

1619 -1.69 -243.3 232.2 -13.1 147 1626 0.00 2.33 0.00 0.000 6 0.000 0.025 2579 2504 3933

1947 -1.69 -243.3 274.7 -13.5 178 1951 0.00 2.53 0.00 0.000 4 0.000 0.051 2579 3895 3932

2028 -1.69 -243.3 285.6 -12.4 184 2035 0.00 2.40 0.00 0.000 6 0.000 0.026 2579 2506 3932

2356 -1.69 -243.3 326.2 -12.2 215 2363 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2508 3930

2685 -1.69 -243.3 362.0 -10.3 246 2691 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2506 3927

3013 -1.69 -243.3 395.1 -10.1 277 3018 0.00 2.58 0.00 0.000 4 0.000 0.056 2579 3889 3924

3130 -1.69 -243.3 407.5 -10.9 286 3138 0.00 2.45 0.00 0.000 6 0.000 0.030 2579 2495 3924

3459 -1.69 -243.3 442.0 -11.0 317 3465 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2495 3921

3787 -1.69 -243.3 476.6 -10.1 348 3791 0.00 2.45 0.00 0.000 4 0.000 0.056 2579 1106 3918

3846 -1.69 -243.3 482.4 -11.0 352 3850 0.00 2.35 0.00 0.000 6 0.000 0.033 2579 2494 3917

4179 -1.69 -243.3 521.0 -11.6 383 4184 0.00 2.62 0.00 0.000 4 0.000 0.061 2579 3907 3914

4261 -1.69 -243.3 531.3 -11.9 389 4269 0.00 2.50 0.00 0.000 6 0.000 0.033 2579 2496 3914

4590 -1.69 -243.3 564.8 -9.3 420 4594 0.00 2.65 0.00 0.000 4 0.000 0.061 2579 3903 3911

4654 -1.69 -243.3 570.6 -10.0 424 4661 0.00 2.50 0.00 0.000 6 0.000 0.033 2579 2496 3910

4983 -1.69 -243.3 601.1 -9.1 455 4989 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2496 3908

5312 -1.69 -243.3 631.6 -9.4 486 5316 0.00 2.67 0.00 0.000 4 0.000 0.067 2579 3901 3906

5371 -1.69 -243.3 637.0 -9.7 490 5375 0.00 2.50 0.00 0.000 6 0.000 0.036 2579 2496 3905

5598 end dive: TARGET_DEPTH_EXCEEDED

state 5598 begin apogee

5610 -0.50 0.0 661.0 10.7 511 5805 1.17 0.00 188.80 0.963 6 0.064 0.000 2837 2701 2937

5811 end apogee: CONTROL_FINISHED_OK

state 5811 begin climb

5816 1.69 243.3 672.5 0.0 530 6030 2.12 2.67 194.18 0.941 4 0.047 0.064 3321 1300 1944

6292 1.71 261.5 641.7 9.5 569 6312 0.00 2.47 15.60 0.848 6 0.000 0.040 3321 2705 1870

6632 1.71 261.5 608.8 10.1 601 6638 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2704 1867

6961 1.72 271.2 576.9 9.7 632 6977 0.00 0.00 8.93 0.776 6 0.000 0.000 3321 2705 1831

7298 1.72 271.2 542.0 10.6 664 7302 0.00 2.35 0.00 0.000 4 0.000 0.065 3321 3942 1828

7358 1.72 271.2 535.7 12.3 668 7362 0.00 2.25 0.00 0.000 6 0.000 0.034 3321 2688 1828

7686 1.72 271.2 498.4 11.2 698 7691 0.00 2.40 0.00 0.000 4 0.000 0.062 3321 3946 1827

7816 1.72 271.2 483.8 12.0 708 7820 0.00 2.25 0.00 0.000 6 0.000 0.033 3321 2684 1827

8144 1.72 271.2 446.5 10.9 738 8148 0.00 2.45 0.00 0.000 4 0.000 0.054 3321 1305 1826

8233 1.72 271.2 436.3 12.1 745 8237 0.00 2.42 0.00 0.000 6 0.000 0.035 3321 2712 1826

8562 1.75 292.3 401.6 9.4 775 8587 0.00 2.58 18.25 0.782 4 0.000 0.051 3321 1298 1745

8622 1.75 292.3 395.8 10.5 779 8629 0.00 2.42 0.00 0.000 6 0.000 0.034 3321 2701 1744

8951 1.77 313.1 363.0 9.4 810 8976 0.00 2.38 18.92 0.758 4 0.000 0.061 3321 3934 1660

9053 1.78 313.6 352.5 10.0 818 9060 0.00 2.22 0.00 0.000 6 0.000 0.031 3321 2685 1658

9381 1.78 313.6 318.8 11.2 849 9387 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2686 1656

9710 1.78 317.7 283.6 9.9 880 9717 0.00 0.00 4.85 0.531 6 0.000 0.000 3321 2686 1640

10038 1.79 329.5 252.9 9.7 911 10055 0.00 2.38 11.80 0.646 4 0.000 0.054 3321 3939 1592

10150 1.79 329.5 240.7 11.1 920 10154 0.00 2.17 0.00 0.000 6 0.000 0.028 3321 2693 1591

10484 1.80 333.3 205.3 9.9 951 10497 0.00 2.45 4.50 0.468 4 0.000 0.046 3321 1300 1578

10592 1.80 333.3 193.8 10.6 960 10597 0.00 2.38 0.00 0.000 6 0.000 0.029 3321 2709 1577

10926 1.80 333.3 159.8 10.3 991 10930 0.00 2.28 0.00 0.000 4 0.000 0.055 3321 3933 1577

11077 1.80 333.3 141.9 11.9 1003 11084 0.00 2.15 0.00 0.000 6 0.000 0.025 3321 2687 1577

11405 1.80 333.3 107.8 10.1 1034 11409 0.00 2.30 0.00 0.000 4 0.000 0.049 3321 3935 1577

11471 1.80 333.3 101.0 10.2 1039 11475 0.00 2.12 0.00 0.000 6 0.000 0.025 3321 2698 1577

11805 1.85 376.5 72.2 8.8 1070 11859 0.15 2.45 37.88 0.523 4 0.040 0.041 3372 1315 1401

11886 1.85 376.5 64.0 11.8 1076 11890 0.00 2.35 0.00 0.000 6 0.000 0.026 3371 2716 1399

12214 1.91 422.4 30.1 8.7 1106 12262 0.00 2.28 38.50 0.476 4 0.000 0.048 3372 3923 1214

12333 1.91 422.4 17.2 11.9 1116 12341 0.00 2.10 0.00 0.000 6 0.000 0.023 3371 2703 1211

12420 1.93 442.9 7.6 9.4 1129 12441 0.00 0.00 17.33 0.433 6 0.000 0.000 3372 2704 1132

12446 end climb: SURFACE_DEPTH_REACHED

state 12446 begin surface coast

12489 end surface coast: CONTROL_FINISHED_OK

state 12489 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	30	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-86426.875	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	024844,2152.150,-15945.478,39,2.0,52,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	3	TGT_RADIUS	2000.000
_XMS_NAKs	8	KALMAN_CONTROL	0.315,-0.082
_XMS_TOUTs	0	KALMAN_X	-40825.1,-813.4,-22.3,34956.9,-2678.0
_SM_DEPTHo	-0.03	KALMAN_Y	18285.4,468.5,40.7,-26107.9,438.5
_SM_ANGLEo	-59.1	MHEAD_RNG_PITCHd_Wd	94.7,8046,-13.9,-10.000
GPS2	031020,2152.139,-15945.857,9,1.1,9,9.8	D_GRID	660
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	-0.2,1.002093	MM_CLLLayer	0.03
SM_CCo	12588,0.00,0.000,0,0,1125,444.48	MM_CfgFile	0.30
SM_GC	0.02,12.75,0.00,0.00,0.025,0.000,0.000,419,2474,1125,-11.56,-0.71,444.48	_24V_AH	23.7,20.548
IRIDIUM_FIX	2143.45,-15945.93,251098,030341	_10V_AH	10.0,24.777
TT8_MAMPS	0.06903	DATA_FILE_SIZE	37811,1140
HUMID	1761	CAP_FILE_SIZE	418368,0
INTERNAL_PRESSURE	9.99408	CFSIZE	-70647808,-86900736
TCM_TEMP	23.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	310709,064232,2152.181,-15944.178,42,1.2,50,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	126	82.33	SBE_CT	791	24	450.47
Roll_motor	111	66	175.70	nil	0	0	0.00
VBD_pump_during_apogee	559	963	12774.76	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	88	103	216.97	nil	0	0	0.00
Iridium_during_connect	86	160	326.49	GUMSTIX	172	1000	4080.83
Iridium_during_xfer	752	223	3979.60
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	89	1000	2128.43
GPS	14	50	7.35
TT8	2226	18	400.82
LPSleep	6420	0	25.04
TT8_Active	623	18	112.27
TT8_Sampling	2006	38	762.49
TT8_CF8	2580	44	1135.41
TT8_Kalman	33	80	26.68
Analog_circuits	1741	12	208.96
GPS_charging	0	0	0.00
Compass	1957	8	156.58
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	99	0.00	0.00	-76.43	0.000	2	0.000	0.000	420	2514	3342
106	-1.69	-243.3	3.0	-8.1	11	128	11.25	0.00	-8.55	0.000	6	0.127	0.000	2580	2513	3932
203	-1.69	-243.3	31.1	-19.2	22	207	0.00	2.50	0.00	0.000	4	0.000	0.043	2579	3899	3932
238	-1.69	-243.3	37.6	-17.6	24	246	0.00	2.45	0.00	0.000	6	0.000	0.022	2579	2473	3932
439	-1.69	-243.3	72.7	-16.0	43	443	0.00	2.33	0.00	0.000	4	0.000	0.041	2579	1107	3932
464	-1.69	-243.3	76.8	-15.7	44	471	0.00	2.33	0.00	0.000	6	0.000	0.023	2579	2518	3932
792	-1.69	-243.3	123.5	-13.9	75	796	0.00	2.45	0.00	0.000	4	0.000	0.041	2579	1100	3933
855	-1.69	-243.3	131.9	-14.0	79	862	0.00	2.30	0.00	0.000	6	0.000	0.022	2579	2498	3933
1183	-1.69	-243.3	176.3	-12.9	110	1187	0.00	2.50	0.00	0.000	4	0.000	0.046	2579	3893	3933
1243	-1.69	-243.3	183.5	-13.0	114	1247	0.00	2.40	0.00	0.000	6	0.000	0.023	2579	2486	3933
1571	-1.69	-243.3	226.1	-11.6	144	1575	0.00	2.38	0.00	0.000	4	0.000	0.044	2579	1101	3933
1619	-1.69	-243.3	232.2	-13.1	147	1626	0.00	2.33	0.00	0.000	6	0.000	0.025	2579	2504	3933
1947	-1.69	-243.3	274.7	-13.5	178	1951	0.00	2.53	0.00	0.000	4	0.000	0.051	2579	3895	3932
2028	-1.69	-243.3	285.6	-12.4	184	2035	0.00	2.40	0.00	0.000	6	0.000	0.026	2579	2506	3932
2356	-1.69	-243.3	326.2	-12.2	215	2363	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2508	3930
2685	-1.69	-243.3	362.0	-10.3	246	2691	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2506	3927
3013	-1.69	-243.3	395.1	-10.1	277	3018	0.00	2.58	0.00	0.000	4	0.000	0.056	2579	3889	3924
3130	-1.69	-243.3	407.5	-10.9	286	3138	0.00	2.45	0.00	0.000	6	0.000	0.030	2579	2495	3924
3459	-1.69	-243.3	442.0	-11.0	317	3465	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2495	3921
3787	-1.69	-243.3	476.6	-10.1	348	3791	0.00	2.45	0.00	0.000	4	0.000	0.056	2579	1106	3918
3846	-1.69	-243.3	482.4	-11.0	352	3850	0.00	2.35	0.00	0.000	6	0.000	0.033	2579	2494	3917
4179	-1.69	-243.3	521.0	-11.6	383	4184	0.00	2.62	0.00	0.000	4	0.000	0.061	2579	3907	3914
4261	-1.69	-243.3	531.3	-11.9	389	4269	0.00	2.50	0.00	0.000	6	0.000	0.033	2579	2496	3914
4590	-1.69	-243.3	564.8	-9.3	420	4594	0.00	2.65	0.00	0.000	4	0.000	0.061	2579	3903	3911
4654	-1.69	-243.3	570.6	-10.0	424	4661	0.00	2.50	0.00	0.000	6	0.000	0.033	2579	2496	3910
4983	-1.69	-243.3	601.1	-9.1	455	4989	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2496	3908
5312	-1.69	-243.3	631.6	-9.4	486	5316	0.00	2.67	0.00	0.000	4	0.000	0.067	2579	3901	3906
5371	-1.69	-243.3	637.0	-9.7	490	5375	0.00	2.50	0.00	0.000	6	0.000	0.036	2579	2496	3905
5598	end dive: TARGET_DEPTH_EXCEEDED
state	5598	begin apogee
5610	-0.50	0.0	661.0	10.7	511	5805	1.17	0.00	188.80	0.963	6	0.064	0.000	2837	2701	2937
5811	end apogee: CONTROL_FINISHED_OK
state	5811	begin climb
5816	1.69	243.3	672.5	0.0	530	6030	2.12	2.67	194.18	0.941	4	0.047	0.064	3321	1300	1944
6292	1.71	261.5	641.7	9.5	569	6312	0.00	2.47	15.60	0.848	6	0.000	0.040	3321	2705	1870
6632	1.71	261.5	608.8	10.1	601	6638	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2704	1867
6961	1.72	271.2	576.9	9.7	632	6977	0.00	0.00	8.93	0.776	6	0.000	0.000	3321	2705	1831
7298	1.72	271.2	542.0	10.6	664	7302	0.00	2.35	0.00	0.000	4	0.000	0.065	3321	3942	1828
7358	1.72	271.2	535.7	12.3	668	7362	0.00	2.25	0.00	0.000	6	0.000	0.034	3321	2688	1828
7686	1.72	271.2	498.4	11.2	698	7691	0.00	2.40	0.00	0.000	4	0.000	0.062	3321	3946	1827
7816	1.72	271.2	483.8	12.0	708	7820	0.00	2.25	0.00	0.000	6	0.000	0.033	3321	2684	1827
8144	1.72	271.2	446.5	10.9	738	8148	0.00	2.45	0.00	0.000	4	0.000	0.054	3321	1305	1826
8233	1.72	271.2	436.3	12.1	745	8237	0.00	2.42	0.00	0.000	6	0.000	0.035	3321	2712	1826
8562	1.75	292.3	401.6	9.4	775	8587	0.00	2.58	18.25	0.782	4	0.000	0.051	3321	1298	1745
8622	1.75	292.3	395.8	10.5	779	8629	0.00	2.42	0.00	0.000	6	0.000	0.034	3321	2701	1744
8951	1.77	313.1	363.0	9.4	810	8976	0.00	2.38	18.92	0.758	4	0.000	0.061	3321	3934	1660
9053	1.78	313.6	352.5	10.0	818	9060	0.00	2.22	0.00	0.000	6	0.000	0.031	3321	2685	1658
9381	1.78	313.6	318.8	11.2	849	9387	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2686	1656
9710	1.78	317.7	283.6	9.9	880	9717	0.00	0.00	4.85	0.531	6	0.000	0.000	3321	2686	1640
10038	1.79	329.5	252.9	9.7	911	10055	0.00	2.38	11.80	0.646	4	0.000	0.054	3321	3939	1592
10150	1.79	329.5	240.7	11.1	920	10154	0.00	2.17	0.00	0.000	6	0.000	0.028	3321	2693	1591
10484	1.80	333.3	205.3	9.9	951	10497	0.00	2.45	4.50	0.468	4	0.000	0.046	3321	1300	1578
10592	1.80	333.3	193.8	10.6	960	10597	0.00	2.38	0.00	0.000	6	0.000	0.029	3321	2709	1577
10926	1.80	333.3	159.8	10.3	991	10930	0.00	2.28	0.00	0.000	4	0.000	0.055	3321	3933	1577
11077	1.80	333.3	141.9	11.9	1003	11084	0.00	2.15	0.00	0.000	6	0.000	0.025	3321	2687	1577
11405	1.80	333.3	107.8	10.1	1034	11409	0.00	2.30	0.00	0.000	4	0.000	0.049	3321	3935	1577
11471	1.80	333.3	101.0	10.2	1039	11475	0.00	2.12	0.00	0.000	6	0.000	0.025	3321	2698	1577
11805	1.85	376.5	72.2	8.8	1070	11859	0.15	2.45	37.88	0.523	4	0.040	0.041	3372	1315	1401
11886	1.85	376.5	64.0	11.8	1076	11890	0.00	2.35	0.00	0.000	6	0.000	0.026	3371	2716	1399
12214	1.91	422.4	30.1	8.7	1106	12262	0.00	2.28	38.50	0.476	4	0.000	0.048	3372	3923	1214
12333	1.91	422.4	17.2	11.9	1116	12341	0.00	2.10	0.00	0.000	6	0.000	0.023	3371	2703	1211
12420	1.93	442.9	7.6	9.4	1129	12441	0.00	0.00	17.33	0.433	6	0.000	0.000	3372	2704	1132
12446	end climb: SURFACE_DEPTH_REACHED
state	12446	begin surface coast
12489	end surface coast: CONTROL_FINISHED_OK
state	12489	begin surface