Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 31 * 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 31 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 48 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 -58123.805 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 -58123.805

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 48 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 31 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 113024,2152.823,-15941.984,36,1.9,36,9.8 TGT_LATLONG 2154.000,-15942.000

_CALLS 2 TGT_RADIUS 2000.000

_XMS_NAKs 2 KALMAN_CONTROL 0.178,0.207

_XMS_TOUTs 0 KALMAN_X -43800.1,570.5,316.5,42558.9,-2048.6

_SM_DEPTHo 0.82 KALMAN_Y 7020.6,-135.0,180.4,-13029.0,-585.4

_SM_ANGLEo -65.0 MHEAD_RNG_PITCHd_Wd 30.8,2172,-16.5,-10.000

GPS2 114255,2152.838,-15942.172,12,1.5,17,9.8 D_GRID 660

SPEED_LIMITS 0.173,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T0

Post-dive calculations and measurements:

FINISH -0.2,1.022880 MM_CLLLayer 0.03

SM_CCo 12525,0.00,0.000,0,0,1417,372.61 MM_CfgFile 0.30

SM_GC 1.16,14.60,0.00,0.00,0.038,0.000,0.000,127,2558,1417,-13.62,0.23,372.61 _24V_AH 23.6,13.456

IRIDIUM_FIX 2143.45,-15913.59,251098,111147 _10V_AH 10.0,4.019

TT8_MAMPS 0.057525 DATA_FILE_SIZE 37857,1166

HUMID 1806 CAP_FILE_SIZE 418341,0

INTERNAL_PRESSURE 11.3872 CFSIZE 260034560,253698048

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 310709,151337,2154.584,-15941.377,32,1.0,32,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 184 146.62 SBE_CT 783 24 443.54

Roll_motor 113 87 233.80 nil 0 0 0.00

VBD_pump_during_apogee 781 925 17049.27 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 52 103 126.44 nil 0 0 0.00

Iridium_during_connect 61 160 232.47 GUMSTIX 160 1000 3793.89

Iridium_during_xfer 436 223 2298.06

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 85 1000 2023.46

GPS 17 50 8.61

TT8 2246 18 404.34

LPSleep 6911 0 26.96

TT8_Active 786 18 141.49

TT8_Sampling 2060 38 782.98

TT8_CF8 1250 44 550.16

TT8_Kalman 33 80 26.68

Analog_circuits 1923 12 230.77

GPS_charging 0 0 0.00

Compass 1995 8 159.67

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 -1.57 -163.4 0.0 0.0 0 100 0.00 0.00 -80.53 0.000 2 0.000 0.000 127 2564 3375

103 -1.65 -227.8 3.4 -7.3 12 133 15.82 2.42 -7.53 0.000 4 0.184 0.071 2734 3887 3868

258 -1.65 -227.8 49.0 -25.0 28 262 0.00 2.25 0.00 0.000 6 0.000 0.029 2735 2551 3869

455 -1.65 -227.8 85.9 -19.1 46 459 0.00 2.45 0.00 0.000 4 0.000 0.062 2734 3880 3870

539 -1.65 -227.8 102.6 -18.1 53 543 0.00 2.25 0.00 0.000 6 0.000 0.029 2734 2539 3871

869 -1.65 -227.8 155.1 -14.4 84 870 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2538 3872

1187 -1.65 -227.8 197.7 -12.4 114 1191 0.00 2.47 0.00 0.000 4 0.000 0.067 2734 3876 3873

1349 -1.65 -227.8 218.8 -12.8 128 1353 0.00 2.25 0.00 0.000 6 0.000 0.031 2734 2546 3873

1674 -1.65 -227.8 260.4 -12.7 158 1675 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2546 3874

1993 -1.65 -227.8 296.7 -11.3 188 1998 0.00 2.50 0.00 0.000 4 0.000 0.071 2734 3883 3872

2081 -1.65 -227.8 307.0 -11.5 195 2089 0.00 2.28 0.00 0.000 6 0.000 0.035 2734 2551 3871

2406 -1.65 -227.8 341.1 -10.7 226 2411 0.00 2.50 0.00 0.000 4 0.000 0.074 2734 3877 3869

2502 -1.65 -227.8 352.4 -11.5 234 2506 0.00 2.28 0.00 0.000 6 0.000 0.035 2734 2554 3869

2826 -1.65 -227.8 385.9 -10.4 264 2830 0.00 2.50 0.00 0.000 4 0.000 0.075 2734 3876 3866

2929 -1.65 -227.8 397.3 -11.0 273 2933 0.00 2.30 0.00 0.000 6 0.000 0.036 2734 2540 3865

3254 -1.65 -227.8 431.5 -10.5 303 3258 0.00 2.53 0.00 0.000 4 0.000 0.077 2734 3879 3863

3317 -1.65 -227.8 438.3 -11.3 308 3321 0.00 2.30 0.00 0.000 6 0.000 0.038 2734 2552 3862

3641 -1.65 -227.8 472.6 -10.4 338 3646 0.00 2.53 0.00 0.000 4 0.000 0.080 2734 3874 3860

3761 -1.65 -227.8 485.7 -11.3 348 3765 0.00 2.30 0.00 0.000 6 0.000 0.039 2734 2553 3859

4085 -1.65 -227.8 521.7 -10.5 378 4089 0.00 2.55 0.00 0.000 4 0.000 0.083 2734 3880 3856

4146 -1.65 -227.8 528.2 -10.1 383 4150 0.00 2.33 0.00 0.000 6 0.000 0.040 2734 2550 3856

4471 -1.67 -243.3 555.5 -7.1 413 4475 0.00 2.55 0.00 0.000 4 0.000 0.085 2734 3874 3853

4533 -1.67 -243.3 560.3 -7.4 418 4537 0.00 2.33 0.00 0.000 6 0.000 0.041 2734 2552 3852

4859 -1.67 -243.3 585.6 -7.7 448 4863 0.00 2.58 0.00 0.000 4 0.000 0.087 2734 3881 3850

4954 -1.67 -243.3 594.2 -10.1 456 4958 0.00 2.35 0.00 0.000 6 0.000 0.042 2734 2550 3850

5279 -1.67 -243.3 620.7 -7.7 486 5280 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2550 3848

5597 -1.67 -243.3 645.5 -7.9 516 5602 0.00 2.53 0.00 0.000 4 0.000 0.079 2734 3875 3845

5664 -1.67 -243.3 651.0 -8.7 521 5671 0.00 2.35 0.00 0.000 6 0.000 0.041 2734 2532 3844

5775 end dive: TARGET_DEPTH_EXCEEDED

state 5775 begin apogee

5779 -0.42 0.0 660.3 8.6 532 6080 1.33 0.00 294.10 0.925 6 0.086 0.000 3008 2532 2936

6081 end apogee: CONTROL_FINISHED_OK

state 6081 begin climb

6083 1.67 243.3 671.5 0.0 562 6420 2.00 2.62 325.35 0.877 4 0.054 0.057 3450 1125 1944

6481 1.67 243.3 637.8 13.1 595 6489 0.00 2.53 0.00 0.000 6 0.000 0.048 3450 2510 1941

6806 1.67 243.3 597.3 12.4 626 6811 0.00 2.53 0.00 0.000 4 0.000 0.052 3450 1124 1937

6838 1.67 243.3 593.0 12.1 628 6846 0.00 2.55 0.00 0.000 6 0.000 0.048 3450 2525 1937

7164 1.67 243.3 554.6 10.9 659 7168 0.00 2.62 0.00 0.000 4 0.000 0.083 3450 3891 1935

7247 1.67 243.3 544.7 12.7 666 7251 0.00 2.42 0.00 0.000 6 0.000 0.043 3450 2521 1934

7571 1.67 243.3 507.0 11.6 696 7575 0.00 2.55 0.00 0.000 4 0.000 0.055 3450 1112 1934

7629 1.67 243.3 500.3 12.1 701 7633 0.00 2.55 0.00 0.000 6 0.000 0.047 3450 2528 1934

7953 1.67 243.3 460.1 11.8 731 7957 0.00 2.60 0.00 0.000 4 0.000 0.079 3450 3892 1933

7996 1.67 243.3 454.3 12.5 734 8004 0.00 2.45 0.00 0.000 6 0.000 0.042 3450 2524 1933

8323 1.67 243.3 420.2 11.0 765 8327 0.00 2.60 0.00 0.000 4 0.000 0.077 3450 3887 1932

8361 1.67 243.3 415.7 11.9 768 8366 0.00 2.42 0.00 0.000 6 0.000 0.041 3450 2509 1932

8686 1.67 243.3 382.3 10.3 798 8690 0.00 2.53 0.00 0.000 4 0.000 0.054 3450 1107 1931

8725 1.67 243.3 378.1 11.3 801 8729 0.00 2.55 0.00 0.000 6 0.000 0.046 3450 2530 1932

9049 1.67 243.3 341.1 10.9 831 9050 0.00 0.00 0.00 0.000 6 0.000 0.000 3450 2530 1931

9369 1.67 243.3 307.4 10.8 861 9370 0.00 0.00 0.00 0.000 6 0.000 0.000 3450 2530 1931

9686 1.67 243.3 274.8 10.7 891 9690 0.00 2.55 0.00 0.000 4 0.000 0.048 3450 1109 1930

9729 1.67 243.3 270.1 10.9 894 9737 0.00 2.53 0.00 0.000 6 0.000 0.042 3450 2528 1930

10055 1.69 258.9 237.1 9.4 925 10079 0.00 2.58 17.45 0.731 4 0.000 0.071 3450 3905 1880

10113 1.69 258.9 231.0 10.5 930 10118 0.00 2.45 0.00 0.000 6 0.000 0.037 3450 2499 1879

10440 1.69 263.3 199.7 9.8 960 10453 0.00 2.62 6.78 0.614 4 0.000 0.067 3450 3890 1862

10514 1.69 263.3 190.9 11.3 966 10522 0.00 2.40 0.00 0.000 6 0.000 0.035 3449 2502 1862

10840 1.74 302.0 159.4 8.4 997 10893 0.00 0.00 51.10 0.680 6 0.000 0.000 3450 2502 1704

11209 1.74 302.0 119.9 11.0 1032 11210 0.00 0.00 0.00 0.000 6 0.000 0.000 3450 2502 1700

11527 1.74 302.0 85.1 10.4 1062 11531 0.00 2.58 0.00 0.000 4 0.000 0.061 3450 3896 1700

11566 1.74 302.0 80.7 11.7 1065 11570 0.00 2.35 0.00 0.000 6 0.000 0.031 3450 2513 1700

11890 1.74 302.0 47.8 10.8 1095 11891 0.00 0.00 0.00 0.000 6 0.000 0.000 3450 2512 1700

12082 1.81 360.9 31.4 7.6 1113 12165 0.00 0.00 74.30 0.556 6 0.000 0.000 3450 2512 1463

12360 1.83 371.2 7.2 9.6 1152 12374 0.00 0.00 11.93 0.491 6 0.000 0.000 3450 2512 1422

12397 end climb: SURFACE_DEPTH_REACHED

state 12397 begin surface coast

12441 end surface coast: CONTROL_FINISHED_OK

state 12441 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	31	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	48	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	-58123.805	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	113024,2152.823,-15941.984,36,1.9,36,9.8	TGT_LATLONG	2154.000,-15942.000
_CALLS	2	TGT_RADIUS	2000.000
_XMS_NAKs	2	KALMAN_CONTROL	0.178,0.207
_XMS_TOUTs	0	KALMAN_X	-43800.1,570.5,316.5,42558.9,-2048.6
_SM_DEPTHo	0.82	KALMAN_Y	7020.6,-135.0,180.4,-13029.0,-585.4
_SM_ANGLEo	-65.0	MHEAD_RNG_PITCHd_Wd	30.8,2172,-16.5,-10.000
GPS2	114255,2152.838,-15942.172,12,1.5,17,9.8	D_GRID	660
SPEED_LIMITS	0.173,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T0

FINISH	-0.2,1.022880	MM_CLLLayer	0.03
SM_CCo	12525,0.00,0.000,0,0,1417,372.61	MM_CfgFile	0.30
SM_GC	1.16,14.60,0.00,0.00,0.038,0.000,0.000,127,2558,1417,-13.62,0.23,372.61	_24V_AH	23.6,13.456
IRIDIUM_FIX	2143.45,-15913.59,251098,111147	_10V_AH	10.0,4.019
TT8_MAMPS	0.057525	DATA_FILE_SIZE	37857,1166
HUMID	1806	CAP_FILE_SIZE	418341,0
INTERNAL_PRESSURE	11.3872	CFSIZE	260034560,253698048
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	310709,151337,2154.584,-15941.377,32,1.0,32,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	184	146.62	SBE_CT	783	24	443.54
Roll_motor	113	87	233.80	nil	0	0	0.00
VBD_pump_during_apogee	781	925	17049.27	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	52	103	126.44	nil	0	0	0.00
Iridium_during_connect	61	160	232.47	GUMSTIX	160	1000	3793.89
Iridium_during_xfer	436	223	2298.06
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	85	1000	2023.46
GPS	17	50	8.61
TT8	2246	18	404.34
LPSleep	6911	0	26.96
TT8_Active	786	18	141.49
TT8_Sampling	2060	38	782.98
TT8_CF8	1250	44	550.16
TT8_Kalman	33	80	26.68
Analog_circuits	1923	12	230.77
GPS_charging	0	0	0.00
Compass	1995	8	159.67
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	-1.57	-163.4	0.0	0.0	0	100	0.00	0.00	-80.53	0.000	2	0.000	0.000	127	2564	3375
103	-1.65	-227.8	3.4	-7.3	12	133	15.82	2.42	-7.53	0.000	4	0.184	0.071	2734	3887	3868
258	-1.65	-227.8	49.0	-25.0	28	262	0.00	2.25	0.00	0.000	6	0.000	0.029	2735	2551	3869
455	-1.65	-227.8	85.9	-19.1	46	459	0.00	2.45	0.00	0.000	4	0.000	0.062	2734	3880	3870
539	-1.65	-227.8	102.6	-18.1	53	543	0.00	2.25	0.00	0.000	6	0.000	0.029	2734	2539	3871
869	-1.65	-227.8	155.1	-14.4	84	870	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2538	3872
1187	-1.65	-227.8	197.7	-12.4	114	1191	0.00	2.47	0.00	0.000	4	0.000	0.067	2734	3876	3873
1349	-1.65	-227.8	218.8	-12.8	128	1353	0.00	2.25	0.00	0.000	6	0.000	0.031	2734	2546	3873
1674	-1.65	-227.8	260.4	-12.7	158	1675	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2546	3874
1993	-1.65	-227.8	296.7	-11.3	188	1998	0.00	2.50	0.00	0.000	4	0.000	0.071	2734	3883	3872
2081	-1.65	-227.8	307.0	-11.5	195	2089	0.00	2.28	0.00	0.000	6	0.000	0.035	2734	2551	3871
2406	-1.65	-227.8	341.1	-10.7	226	2411	0.00	2.50	0.00	0.000	4	0.000	0.074	2734	3877	3869
2502	-1.65	-227.8	352.4	-11.5	234	2506	0.00	2.28	0.00	0.000	6	0.000	0.035	2734	2554	3869
2826	-1.65	-227.8	385.9	-10.4	264	2830	0.00	2.50	0.00	0.000	4	0.000	0.075	2734	3876	3866
2929	-1.65	-227.8	397.3	-11.0	273	2933	0.00	2.30	0.00	0.000	6	0.000	0.036	2734	2540	3865
3254	-1.65	-227.8	431.5	-10.5	303	3258	0.00	2.53	0.00	0.000	4	0.000	0.077	2734	3879	3863
3317	-1.65	-227.8	438.3	-11.3	308	3321	0.00	2.30	0.00	0.000	6	0.000	0.038	2734	2552	3862
3641	-1.65	-227.8	472.6	-10.4	338	3646	0.00	2.53	0.00	0.000	4	0.000	0.080	2734	3874	3860
3761	-1.65	-227.8	485.7	-11.3	348	3765	0.00	2.30	0.00	0.000	6	0.000	0.039	2734	2553	3859
4085	-1.65	-227.8	521.7	-10.5	378	4089	0.00	2.55	0.00	0.000	4	0.000	0.083	2734	3880	3856
4146	-1.65	-227.8	528.2	-10.1	383	4150	0.00	2.33	0.00	0.000	6	0.000	0.040	2734	2550	3856
4471	-1.67	-243.3	555.5	-7.1	413	4475	0.00	2.55	0.00	0.000	4	0.000	0.085	2734	3874	3853
4533	-1.67	-243.3	560.3	-7.4	418	4537	0.00	2.33	0.00	0.000	6	0.000	0.041	2734	2552	3852
4859	-1.67	-243.3	585.6	-7.7	448	4863	0.00	2.58	0.00	0.000	4	0.000	0.087	2734	3881	3850
4954	-1.67	-243.3	594.2	-10.1	456	4958	0.00	2.35	0.00	0.000	6	0.000	0.042	2734	2550	3850
5279	-1.67	-243.3	620.7	-7.7	486	5280	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2550	3848
5597	-1.67	-243.3	645.5	-7.9	516	5602	0.00	2.53	0.00	0.000	4	0.000	0.079	2734	3875	3845
5664	-1.67	-243.3	651.0	-8.7	521	5671	0.00	2.35	0.00	0.000	6	0.000	0.041	2734	2532	3844
5775	end dive: TARGET_DEPTH_EXCEEDED
state	5775	begin apogee
5779	-0.42	0.0	660.3	8.6	532	6080	1.33	0.00	294.10	0.925	6	0.086	0.000	3008	2532	2936
6081	end apogee: CONTROL_FINISHED_OK
state	6081	begin climb
6083	1.67	243.3	671.5	0.0	562	6420	2.00	2.62	325.35	0.877	4	0.054	0.057	3450	1125	1944
6481	1.67	243.3	637.8	13.1	595	6489	0.00	2.53	0.00	0.000	6	0.000	0.048	3450	2510	1941
6806	1.67	243.3	597.3	12.4	626	6811	0.00	2.53	0.00	0.000	4	0.000	0.052	3450	1124	1937
6838	1.67	243.3	593.0	12.1	628	6846	0.00	2.55	0.00	0.000	6	0.000	0.048	3450	2525	1937
7164	1.67	243.3	554.6	10.9	659	7168	0.00	2.62	0.00	0.000	4	0.000	0.083	3450	3891	1935
7247	1.67	243.3	544.7	12.7	666	7251	0.00	2.42	0.00	0.000	6	0.000	0.043	3450	2521	1934
7571	1.67	243.3	507.0	11.6	696	7575	0.00	2.55	0.00	0.000	4	0.000	0.055	3450	1112	1934
7629	1.67	243.3	500.3	12.1	701	7633	0.00	2.55	0.00	0.000	6	0.000	0.047	3450	2528	1934
7953	1.67	243.3	460.1	11.8	731	7957	0.00	2.60	0.00	0.000	4	0.000	0.079	3450	3892	1933
7996	1.67	243.3	454.3	12.5	734	8004	0.00	2.45	0.00	0.000	6	0.000	0.042	3450	2524	1933
8323	1.67	243.3	420.2	11.0	765	8327	0.00	2.60	0.00	0.000	4	0.000	0.077	3450	3887	1932
8361	1.67	243.3	415.7	11.9	768	8366	0.00	2.42	0.00	0.000	6	0.000	0.041	3450	2509	1932
8686	1.67	243.3	382.3	10.3	798	8690	0.00	2.53	0.00	0.000	4	0.000	0.054	3450	1107	1931
8725	1.67	243.3	378.1	11.3	801	8729	0.00	2.55	0.00	0.000	6	0.000	0.046	3450	2530	1932
9049	1.67	243.3	341.1	10.9	831	9050	0.00	0.00	0.00	0.000	6	0.000	0.000	3450	2530	1931
9369	1.67	243.3	307.4	10.8	861	9370	0.00	0.00	0.00	0.000	6	0.000	0.000	3450	2530	1931
9686	1.67	243.3	274.8	10.7	891	9690	0.00	2.55	0.00	0.000	4	0.000	0.048	3450	1109	1930
9729	1.67	243.3	270.1	10.9	894	9737	0.00	2.53	0.00	0.000	6	0.000	0.042	3450	2528	1930
10055	1.69	258.9	237.1	9.4	925	10079	0.00	2.58	17.45	0.731	4	0.000	0.071	3450	3905	1880
10113	1.69	258.9	231.0	10.5	930	10118	0.00	2.45	0.00	0.000	6	0.000	0.037	3450	2499	1879
10440	1.69	263.3	199.7	9.8	960	10453	0.00	2.62	6.78	0.614	4	0.000	0.067	3450	3890	1862
10514	1.69	263.3	190.9	11.3	966	10522	0.00	2.40	0.00	0.000	6	0.000	0.035	3449	2502	1862
10840	1.74	302.0	159.4	8.4	997	10893	0.00	0.00	51.10	0.680	6	0.000	0.000	3450	2502	1704
11209	1.74	302.0	119.9	11.0	1032	11210	0.00	0.00	0.00	0.000	6	0.000	0.000	3450	2502	1700
11527	1.74	302.0	85.1	10.4	1062	11531	0.00	2.58	0.00	0.000	4	0.000	0.061	3450	3896	1700
11566	1.74	302.0	80.7	11.7	1065	11570	0.00	2.35	0.00	0.000	6	0.000	0.031	3450	2513	1700
11890	1.74	302.0	47.8	10.8	1095	11891	0.00	0.00	0.00	0.000	6	0.000	0.000	3450	2512	1700
12082	1.81	360.9	31.4	7.6	1113	12165	0.00	0.00	74.30	0.556	6	0.000	0.000	3450	2512	1463
12360	1.83	371.2	7.2	9.6	1152	12374	0.00	0.00	11.93	0.491	6	0.000	0.000	3450	2512	1422
12397	end climb: SURFACE_DEPTH_REACHED
state	12397	begin surface coast
12441	end surface coast: CONTROL_FINISHED_OK
state	12441	begin surface