Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 31 * 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 31 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 64 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -86444 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 -86444

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 64 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 34 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 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 064232,2152.181,-15944.178,42,1.2,50,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 2 TGT_RADIUS 2000.000

_XMS_NAKs 8 KALMAN_CONTROL 0.284,-0.159

_XMS_TOUTs 0 KALMAN_X -43160.4,-329.7,-57.0,39107.4,-1436.6

_SM_DEPTHo -0.07 KALMAN_Y 19834.4,140.0,188.0,-27202.8,537.3

_SM_ANGLEo -58.4 MHEAD_RNG_PITCHd_Wd 109.5,6176,-13.9,-10.000

GPS2 070214,2152.289,-15944.535,16,1.0,16,9.8 D_GRID 660

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH -0.2,1.010000 MM_CLLLayer 0.03

SM_CCo 12444,0.00,0.000,0,0,1044,464.11 MM_CfgFile 0.30

SM_GC -0.05,12.80,0.00,0.00,0.023,0.000,0.000,420,2496,1044,-11.55,-0.14,464.11 _24V_AH 23.7,20.755

IRIDIUM_FIX 2143.45,-15945.93,251098,060615 _10V_AH 10.0,24.907

TT8_MAMPS 0.075166 DATA_FILE_SIZE 34654,1131

HUMID 1774 CAP_FILE_SIZE 410590,0

INTERNAL_PRESSURE 9.97455 CFSIZE -70647808,-87228416

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

MM_GliderControlLayer 0.41 GPS 310709,103155,2151.454,-15942.888,41,1.2,42,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 82.13 SBE_CT 786 24 447.35

Roll_motor 96 72 164.55 nil 0 0 0.00

VBD_pump_during_apogee 569 966 13050.21 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 63 103 155.02 nil 0 0 0.00

Iridium_during_connect 53 160 203.71 GUMSTIX 165 1000 3916.16

Iridium_during_xfer 715 223 3783.15

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 88 1000 2088.68

GPS 16 50 8.24

TT8 2201 18 396.25

LPSleep 6301 0 24.58

TT8_Active 632 18 113.78

TT8_Sampling 2000 38 760.13

TT8_CF8 2463 44 1083.92

TT8_Kalman 33 80 26.68

Analog_circuits 1741 12 208.93

GPS_charging 0 0 0.00

Compass 1946 8 155.70

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

25 -1.69 -243.3 0.0 0.0 0 111 0.00 0.00 -83.22 0.000 2 0.000 0.000 420 2473 3607

117 -1.69 -243.3 4.8 -13.1 12 139 11.23 0.00 -4.18 0.000 6 0.126 0.000 2576 2473 3930

205 -1.69 -243.3 36.7 -19.5 21 211 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2473 3932

406 -1.69 -243.3 71.4 -16.2 40 412 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2473 3931

734 -1.69 -243.3 120.6 -14.2 71 738 0.00 2.58 0.00 0.000 4 0.000 0.044 2576 3907 3932

777 -1.69 -243.3 126.8 -14.7 74 781 0.00 2.38 0.00 0.000 6 0.000 0.023 2576 2508 3932

1105 -1.69 -243.3 175.6 -14.3 104 1111 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2508 3932

1433 -1.69 -243.3 221.7 -14.8 135 1438 0.00 2.53 0.00 0.000 4 0.000 0.047 2576 3896 3931

1481 -1.69 -243.3 228.5 -13.9 138 1488 0.00 2.40 0.00 0.000 6 0.000 0.025 2576 2497 3932

1809 -1.69 -243.3 269.5 -12.0 169 1815 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2497 3931

2137 -1.69 -243.3 307.7 -11.4 200 2144 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2497 3930

2466 -1.69 -243.3 348.3 -12.8 231 2472 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2497 3927

2794 -1.69 -243.3 386.7 -11.2 262 2798 0.00 2.60 0.00 0.000 4 0.000 0.055 2576 3898 3925

2894 -1.69 -243.3 398.4 -11.8 270 2898 0.00 2.42 0.00 0.000 6 0.000 0.030 2576 2500 3924

3227 -1.69 -243.3 437.5 -11.5 301 3232 0.00 2.47 0.00 0.000 4 0.000 0.054 2576 1095 3921

3288 -1.69 -243.3 443.8 -11.5 305 3293 0.00 2.38 0.00 0.000 6 0.000 0.032 2576 2495 3920

3617 -1.69 -243.3 479.0 -10.3 335 3623 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2495 3917

3945 -1.69 -243.3 513.1 -10.1 366 3949 0.00 2.62 0.00 0.000 4 0.000 0.063 2576 3906 3914

4056 -1.69 -243.3 524.5 -10.3 375 4061 0.00 2.47 0.00 0.000 6 0.000 0.033 2576 2500 3913

4385 -1.69 -243.3 556.4 -9.6 405 4391 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2500 3911

4714 -1.69 -243.3 584.9 -8.3 436 4718 0.00 2.65 0.00 0.000 4 0.000 0.064 2576 3901 3908

4784 -1.69 -243.3 591.1 -8.9 441 4792 0.00 2.50 0.00 0.000 6 0.000 0.034 2576 2496 3907

5113 -1.69 -243.3 617.3 -8.8 472 5119 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2496 3905

5441 -1.69 -243.3 646.9 -9.6 503 5446 0.00 2.70 0.00 0.000 4 0.000 0.070 2576 3902 3903

5534 -1.69 -243.3 657.0 -10.5 510 5541 0.00 2.53 0.00 0.000 6 0.000 0.038 2576 2503 3902

5559 end dive: TARGET_DEPTH_EXCEEDED

state 5560 begin apogee

5572 -0.50 0.0 660.1 10.8 513 5766 1.20 0.00 188.12 0.966 6 0.064 0.000 2837 2706 2937

5772 end apogee: CONTROL_FINISHED_OK

state 5772 begin climb

5777 1.69 243.3 672.5 0.0 532 5991 2.12 2.42 194.65 0.945 4 0.047 0.072 3321 3922 1945

6199 1.69 243.3 647.2 10.3 566 6206 0.00 2.25 0.00 0.000 6 0.000 0.037 3321 2692 1939

6527 1.69 243.3 612.6 11.0 597 6531 0.00 2.40 0.00 0.000 4 0.000 0.066 3321 3932 1936

6628 1.69 243.3 600.4 12.3 605 6632 0.00 2.22 0.00 0.000 6 0.000 0.035 3321 2693 1936

6962 1.69 243.3 564.1 10.0 636 6966 0.00 2.50 0.00 0.000 4 0.000 0.058 3321 1298 1934

7022 1.69 243.3 558.5 10.7 640 7026 0.00 2.42 0.00 0.000 6 0.000 0.037 3321 2697 1934

7350 1.69 243.3 524.5 10.4 670 7354 0.00 2.35 0.00 0.000 4 0.000 0.064 3321 3935 1933

7462 1.69 243.3 512.0 10.8 679 7466 0.00 2.22 0.00 0.000 6 0.000 0.034 3321 2690 1933

7795 1.69 243.3 476.2 11.2 710 7799 0.00 2.38 0.00 0.000 4 0.000 0.061 3321 3933 1932

7923 1.69 243.3 461.2 12.9 720 7927 0.00 2.20 0.00 0.000 6 0.000 0.032 3321 2697 1932

8252 1.73 273.7 426.4 9.2 750 8281 0.00 2.53 24.40 0.810 4 0.000 0.053 3321 1298 1820

8395 1.73 273.7 412.4 10.2 761 8402 0.00 2.42 0.00 0.000 6 0.000 0.034 3321 2704 1817

8723 1.76 301.0 381.6 9.2 792 8752 0.00 2.35 23.98 0.779 4 0.000 0.061 3321 3931 1708

8866 1.76 301.0 366.8 10.8 803 8873 0.00 2.20 0.00 0.000 6 0.000 0.031 3321 2693 1706

9194 1.76 301.0 331.1 11.6 834 9201 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2693 1704

9523 1.80 331.1 297.8 9.2 865 9559 0.00 2.53 25.95 0.723 4 0.000 0.049 3321 1306 1586

9602 1.80 331.1 290.0 10.3 871 9609 0.00 2.40 0.00 0.000 6 0.000 0.031 3320 2703 1584

9930 1.81 341.0 258.3 9.7 902 9947 0.10 2.35 9.48 0.624 4 0.054 0.057 3354 3926 1546

10007 1.81 341.0 249.1 12.5 908 10014 0.00 2.17 0.00 0.000 6 0.000 0.028 3353 2695 1545

10335 1.81 341.0 210.4 12.9 939 10339 0.00 2.42 0.00 0.000 4 0.000 0.047 3354 1300 1544

10474 1.81 341.0 193.2 11.9 950 10481 0.00 2.40 0.00 0.000 6 0.000 0.029 3354 2715 1543

10802 1.81 342.4 160.2 10.0 981 10806 0.00 2.25 0.00 0.000 4 0.000 0.054 3354 3933 1543

10895 1.81 342.4 150.2 10.9 988 10902 0.00 2.15 0.00 0.000 6 0.000 0.025 3354 2692 1543

11223 1.81 342.4 116.3 11.0 1019 11227 0.00 2.30 0.00 0.000 4 0.000 0.050 3354 3934 1543

11289 1.81 342.4 108.5 12.8 1024 11293 0.00 2.15 0.00 0.000 6 0.000 0.025 3354 2688 1542

11623 1.81 344.5 71.3 9.9 1055 11636 0.00 2.30 4.28 0.372 4 0.000 0.048 3354 3932 1532

11749 1.84 363.2 59.5 9.5 1065 11774 0.00 2.12 17.27 0.493 6 0.000 0.024 3354 2691 1456

12100 1.96 461.9 29.3 7.3 1097 12189 0.10 0.00 81.65 0.480 6 0.049 0.000 3393 2691 1051

12309 end climb: SURFACE_DEPTH_REACHED

state 12309 begin surface coast

12350 end surface coast: CONTROL_FINISHED_OK

state 12350 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	31	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	64	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-86444	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	064232,2152.181,-15944.178,42,1.2,50,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	2	TGT_RADIUS	2000.000
_XMS_NAKs	8	KALMAN_CONTROL	0.284,-0.159
_XMS_TOUTs	0	KALMAN_X	-43160.4,-329.7,-57.0,39107.4,-1436.6
_SM_DEPTHo	-0.07	KALMAN_Y	19834.4,140.0,188.0,-27202.8,537.3
_SM_ANGLEo	-58.4	MHEAD_RNG_PITCHd_Wd	109.5,6176,-13.9,-10.000
GPS2	070214,2152.289,-15944.535,16,1.0,16,9.8	D_GRID	660
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	-0.2,1.010000	MM_CLLLayer	0.03
SM_CCo	12444,0.00,0.000,0,0,1044,464.11	MM_CfgFile	0.30
SM_GC	-0.05,12.80,0.00,0.00,0.023,0.000,0.000,420,2496,1044,-11.55,-0.14,464.11	_24V_AH	23.7,20.755
IRIDIUM_FIX	2143.45,-15945.93,251098,060615	_10V_AH	10.0,24.907
TT8_MAMPS	0.075166	DATA_FILE_SIZE	34654,1131
HUMID	1774	CAP_FILE_SIZE	410590,0
INTERNAL_PRESSURE	9.97455	CFSIZE	-70647808,-87228416
TCM_TEMP	23.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
MM_GliderControlLayer	0.41	GPS	310709,103155,2151.454,-15942.888,41,1.2,42,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	82.13	SBE_CT	786	24	447.35
Roll_motor	96	72	164.55	nil	0	0	0.00
VBD_pump_during_apogee	569	966	13050.21	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	63	103	155.02	nil	0	0	0.00
Iridium_during_connect	53	160	203.71	GUMSTIX	165	1000	3916.16
Iridium_during_xfer	715	223	3783.15
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	88	1000	2088.68
GPS	16	50	8.24
TT8	2201	18	396.25
LPSleep	6301	0	24.58
TT8_Active	632	18	113.78
TT8_Sampling	2000	38	760.13
TT8_CF8	2463	44	1083.92
TT8_Kalman	33	80	26.68
Analog_circuits	1741	12	208.93
GPS_charging	0	0	0.00
Compass	1946	8	155.70
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
25	-1.69	-243.3	0.0	0.0	0	111	0.00	0.00	-83.22	0.000	2	0.000	0.000	420	2473	3607
117	-1.69	-243.3	4.8	-13.1	12	139	11.23	0.00	-4.18	0.000	6	0.126	0.000	2576	2473	3930
205	-1.69	-243.3	36.7	-19.5	21	211	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2473	3932
406	-1.69	-243.3	71.4	-16.2	40	412	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2473	3931
734	-1.69	-243.3	120.6	-14.2	71	738	0.00	2.58	0.00	0.000	4	0.000	0.044	2576	3907	3932
777	-1.69	-243.3	126.8	-14.7	74	781	0.00	2.38	0.00	0.000	6	0.000	0.023	2576	2508	3932
1105	-1.69	-243.3	175.6	-14.3	104	1111	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2508	3932
1433	-1.69	-243.3	221.7	-14.8	135	1438	0.00	2.53	0.00	0.000	4	0.000	0.047	2576	3896	3931
1481	-1.69	-243.3	228.5	-13.9	138	1488	0.00	2.40	0.00	0.000	6	0.000	0.025	2576	2497	3932
1809	-1.69	-243.3	269.5	-12.0	169	1815	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2497	3931
2137	-1.69	-243.3	307.7	-11.4	200	2144	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2497	3930
2466	-1.69	-243.3	348.3	-12.8	231	2472	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2497	3927
2794	-1.69	-243.3	386.7	-11.2	262	2798	0.00	2.60	0.00	0.000	4	0.000	0.055	2576	3898	3925
2894	-1.69	-243.3	398.4	-11.8	270	2898	0.00	2.42	0.00	0.000	6	0.000	0.030	2576	2500	3924
3227	-1.69	-243.3	437.5	-11.5	301	3232	0.00	2.47	0.00	0.000	4	0.000	0.054	2576	1095	3921
3288	-1.69	-243.3	443.8	-11.5	305	3293	0.00	2.38	0.00	0.000	6	0.000	0.032	2576	2495	3920
3617	-1.69	-243.3	479.0	-10.3	335	3623	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2495	3917
3945	-1.69	-243.3	513.1	-10.1	366	3949	0.00	2.62	0.00	0.000	4	0.000	0.063	2576	3906	3914
4056	-1.69	-243.3	524.5	-10.3	375	4061	0.00	2.47	0.00	0.000	6	0.000	0.033	2576	2500	3913
4385	-1.69	-243.3	556.4	-9.6	405	4391	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2500	3911
4714	-1.69	-243.3	584.9	-8.3	436	4718	0.00	2.65	0.00	0.000	4	0.000	0.064	2576	3901	3908
4784	-1.69	-243.3	591.1	-8.9	441	4792	0.00	2.50	0.00	0.000	6	0.000	0.034	2576	2496	3907
5113	-1.69	-243.3	617.3	-8.8	472	5119	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2496	3905
5441	-1.69	-243.3	646.9	-9.6	503	5446	0.00	2.70	0.00	0.000	4	0.000	0.070	2576	3902	3903
5534	-1.69	-243.3	657.0	-10.5	510	5541	0.00	2.53	0.00	0.000	6	0.000	0.038	2576	2503	3902
5559	end dive: TARGET_DEPTH_EXCEEDED
state	5560	begin apogee
5572	-0.50	0.0	660.1	10.8	513	5766	1.20	0.00	188.12	0.966	6	0.064	0.000	2837	2706	2937
5772	end apogee: CONTROL_FINISHED_OK
state	5772	begin climb
5777	1.69	243.3	672.5	0.0	532	5991	2.12	2.42	194.65	0.945	4	0.047	0.072	3321	3922	1945
6199	1.69	243.3	647.2	10.3	566	6206	0.00	2.25	0.00	0.000	6	0.000	0.037	3321	2692	1939
6527	1.69	243.3	612.6	11.0	597	6531	0.00	2.40	0.00	0.000	4	0.000	0.066	3321	3932	1936
6628	1.69	243.3	600.4	12.3	605	6632	0.00	2.22	0.00	0.000	6	0.000	0.035	3321	2693	1936
6962	1.69	243.3	564.1	10.0	636	6966	0.00	2.50	0.00	0.000	4	0.000	0.058	3321	1298	1934
7022	1.69	243.3	558.5	10.7	640	7026	0.00	2.42	0.00	0.000	6	0.000	0.037	3321	2697	1934
7350	1.69	243.3	524.5	10.4	670	7354	0.00	2.35	0.00	0.000	4	0.000	0.064	3321	3935	1933
7462	1.69	243.3	512.0	10.8	679	7466	0.00	2.22	0.00	0.000	6	0.000	0.034	3321	2690	1933
7795	1.69	243.3	476.2	11.2	710	7799	0.00	2.38	0.00	0.000	4	0.000	0.061	3321	3933	1932
7923	1.69	243.3	461.2	12.9	720	7927	0.00	2.20	0.00	0.000	6	0.000	0.032	3321	2697	1932
8252	1.73	273.7	426.4	9.2	750	8281	0.00	2.53	24.40	0.810	4	0.000	0.053	3321	1298	1820
8395	1.73	273.7	412.4	10.2	761	8402	0.00	2.42	0.00	0.000	6	0.000	0.034	3321	2704	1817
8723	1.76	301.0	381.6	9.2	792	8752	0.00	2.35	23.98	0.779	4	0.000	0.061	3321	3931	1708
8866	1.76	301.0	366.8	10.8	803	8873	0.00	2.20	0.00	0.000	6	0.000	0.031	3321	2693	1706
9194	1.76	301.0	331.1	11.6	834	9201	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2693	1704
9523	1.80	331.1	297.8	9.2	865	9559	0.00	2.53	25.95	0.723	4	0.000	0.049	3321	1306	1586
9602	1.80	331.1	290.0	10.3	871	9609	0.00	2.40	0.00	0.000	6	0.000	0.031	3320	2703	1584
9930	1.81	341.0	258.3	9.7	902	9947	0.10	2.35	9.48	0.624	4	0.054	0.057	3354	3926	1546
10007	1.81	341.0	249.1	12.5	908	10014	0.00	2.17	0.00	0.000	6	0.000	0.028	3353	2695	1545
10335	1.81	341.0	210.4	12.9	939	10339	0.00	2.42	0.00	0.000	4	0.000	0.047	3354	1300	1544
10474	1.81	341.0	193.2	11.9	950	10481	0.00	2.40	0.00	0.000	6	0.000	0.029	3354	2715	1543
10802	1.81	342.4	160.2	10.0	981	10806	0.00	2.25	0.00	0.000	4	0.000	0.054	3354	3933	1543
10895	1.81	342.4	150.2	10.9	988	10902	0.00	2.15	0.00	0.000	6	0.000	0.025	3354	2692	1543
11223	1.81	342.4	116.3	11.0	1019	11227	0.00	2.30	0.00	0.000	4	0.000	0.050	3354	3934	1543
11289	1.81	342.4	108.5	12.8	1024	11293	0.00	2.15	0.00	0.000	6	0.000	0.025	3354	2688	1542
11623	1.81	344.5	71.3	9.9	1055	11636	0.00	2.30	4.28	0.372	4	0.000	0.048	3354	3932	1532
11749	1.84	363.2	59.5	9.5	1065	11774	0.00	2.12	17.27	0.493	6	0.000	0.024	3354	2691	1456
12100	1.96	461.9	29.3	7.3	1097	12189	0.10	0.00	81.65	0.480	6	0.049	0.000	3393	2691	1051
12309	end climb: SURFACE_DEPTH_REACHED
state	12309	begin surface coast
12350	end surface coast: CONTROL_FINISHED_OK
state	12350	begin surface