Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 32 * 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 32 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 450 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 450 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 45 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 150 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 175 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 -58138.035 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 450

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 450 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 150

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 -58138.035

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 175

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 45 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 27 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 32 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 151337,2154.584,-15941.377,32,1.0,32,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 5 KALMAN_CONTROL 0.270,-0.180

_XMS_TOUTs 0 KALMAN_X -45044.4,1004.5,-1.9,44939.2,-1475.8

_SM_DEPTHo 0.95 KALMAN_Y 7823.1,-188.1,-169.6,-10253.9,497.4

_SM_ANGLEo -68.9 MHEAD_RNG_PITCHd_Wd 113.9,3041,-13.1,-10.000

GPS2 152232,2154.556,-15941.439,13,1.2,13,9.8 D_GRID 450

SPEED_LIMITS 0.173,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.0,1.022880 MM_CLLLayer 0.03

SM_CCo 8723,24.65,0.504,0,0,1101,450.13 MM_CfgFile 0.30

SM_GC 1.12,0.00,0.00,24.65,0.000,0.000,0.504,130,2572,1101,-13.66,0.62,450.13 _24V_AH 23.7,13.667

IRIDIUM_FIX 2145.77,-15911.42,251098,111127 _10V_AH 10.0,4.107

TT8_MAMPS 0.055991 DATA_FILE_SIZE 25289,819

HUMID 1826 CAP_FILE_SIZE 296854,0

INTERNAL_PRESSURE 11.3774 CFSIZE 260034560,253685760

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 310709,175016,2153.867,-15940.778,8,3.2,27,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 184 147.35 SBE_CT 542 24 308.46

Roll_motor 72 78 134.98 nil 0 0 0.00

VBD_pump_during_apogee 824 763 14911.38 nil 0 0 0.00

VBD_pump_during_surface 24 503 294.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 55.69 nil 0 0 0.00

Iridium_during_connect 26 160 99.50 GUMSTIX 124 1000 2961.67

Iridium_during_xfer 332 223 1757.76

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 60 1000 1430.98

GPS 13 50 6.80

TT8 1541 18 277.47

LPSleep 4568 0 17.82

TT8_Active 814 18 146.66

TT8_Sampling 1450 38 551.05

TT8_CF8 892 44 392.79

TT8_Kalman 33 80 26.68

Analog_circuits 1682 12 201.88

GPS_charging 0 0 0.00

Compass 1405 8 112.44

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 87 0.00 0.00 -67.62 0.000 2 0.000 0.000 127 2559 3314

90 -1.39 -243.3 3.5 -7.8 10 119 16.17 0.00 -9.32 0.000 6 0.184 0.000 2791 2558 3930

190 -1.39 -243.3 30.6 -18.5 22 194 0.00 2.42 0.00 0.000 4 0.000 0.059 2791 3887 3934

233 -1.39 -243.3 39.9 -20.8 25 241 0.00 2.30 0.00 0.000 6 0.000 0.029 2790 2538 3934

431 -1.39 -243.3 73.1 -13.4 44 435 0.00 2.35 0.00 0.000 4 0.000 0.032 2791 1159 3934

472 -1.39 -243.3 78.3 -13.7 47 477 0.00 2.40 0.00 0.000 6 0.000 0.033 2791 2551 3934

797 -1.39 -243.3 119.9 -13.5 77 801 0.00 2.45 0.00 0.000 4 0.000 0.065 2791 3889 3934

918 -1.39 -243.3 138.7 -15.7 87 926 0.00 2.25 0.00 0.000 6 0.000 0.028 2791 2534 3934

1243 -1.39 -243.3 181.1 -11.9 118 1247 0.00 2.50 0.00 0.000 4 0.000 0.064 2791 3891 3934

1319 -1.39 -243.3 190.7 -11.7 124 1328 0.00 2.28 0.00 0.000 6 0.000 0.028 2791 2549 3934

1645 -1.39 -243.3 227.5 -11.5 155 1646 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2549 3934

1964 -1.39 -243.3 262.3 -10.8 185 1968 0.00 2.50 0.00 0.000 4 0.000 0.070 2791 3892 3935

2049 -1.39 -243.3 271.2 -10.1 192 2054 0.00 2.25 0.00 0.000 6 0.000 0.031 2791 2557 3934

2374 -1.39 -243.3 306.2 -10.8 222 2378 0.00 2.47 0.00 0.000 4 0.000 0.071 2791 3883 3934

2437 -1.39 -243.3 313.4 -11.8 227 2441 0.00 2.28 0.00 0.000 6 0.000 0.033 2791 2544 3934

2761 -1.39 -243.3 345.3 -8.3 257 2765 0.00 2.53 0.00 0.000 4 0.000 0.073 2791 3890 3934

2857 -1.39 -243.3 353.9 -10.3 265 2861 0.00 2.30 0.00 0.000 6 0.000 0.034 2791 2541 3934

3182 -1.39 -243.3 382.6 -7.8 295 3186 0.00 2.55 0.00 0.000 4 0.000 0.074 2791 3890 3934

3232 -1.39 -243.3 386.9 -8.6 299 3239 0.00 2.30 0.00 0.000 6 0.000 0.035 2791 2552 3932

3557 -1.39 -243.3 415.8 -8.4 330 3561 0.00 2.53 0.00 0.000 4 0.000 0.076 2791 3884 3929

3612 -1.39 -243.3 421.1 -9.8 334 3619 0.00 2.30 0.00 0.000 6 0.000 0.036 2791 2551 3929

3935 end dive: TARGET_DEPTH_EXCEEDED

state 3935 begin apogee

3940 -0.42 0.0 450.2 9.4 365 4259 1.02 0.00 309.10 0.763 6 0.076 0.000 3010 2551 2936

4260 end apogee: CONTROL_FINISHED_OK

state 4261 begin climb

4263 1.39 243.3 468.3 0.0 397 4588 1.77 2.62 313.10 0.739 4 0.049 0.078 3403 3890 1943

4671 1.39 243.3 434.7 13.1 431 4679 0.00 2.42 0.00 0.000 6 0.000 0.038 3403 2531 1940

4996 1.39 243.3 401.0 10.3 462 4997 0.00 0.00 0.00 0.000 6 0.000 0.000 3403 2531 1938

5315 1.41 263.1 370.0 9.4 492 5346 0.00 0.00 24.60 0.719 6 0.000 0.000 3403 2531 1863

5665 1.41 263.1 331.1 12.4 525 5666 0.00 0.00 0.00 0.000 6 0.000 0.000 3403 2531 1859

5982 1.41 263.1 296.6 10.2 555 5986 0.00 2.55 0.00 0.000 4 0.000 0.071 3403 3883 1858

6037 1.41 263.1 290.1 12.3 559 6044 0.00 2.38 0.00 0.000 6 0.000 0.037 3403 2515 1857

6363 1.41 263.1 256.7 10.6 590 6367 0.00 2.47 0.00 0.000 4 0.000 0.048 3403 1119 1857

6414 1.41 263.1 250.9 10.9 594 6419 0.00 2.47 0.00 0.000 6 0.000 0.041 3403 2518 1856

6739 1.42 269.4 219.5 9.8 624 6751 0.00 0.00 7.75 0.613 6 0.000 0.000 3403 2518 1837

7069 1.54 365.9 190.9 7.3 655 7202 0.15 2.53 123.93 0.666 4 0.051 0.041 3445 1116 1444

7264 1.54 365.9 167.5 13.2 671 7271 0.00 2.50 0.00 0.000 6 0.000 0.038 3445 2527 1441

7588 1.54 365.9 127.5 11.7 702 7593 0.00 2.53 0.00 0.000 4 0.000 0.065 3445 3895 1439

7617 1.54 365.9 124.2 12.0 704 7621 0.00 2.38 0.00 0.000 6 0.000 0.031 3445 2503 1438

7941 1.54 365.9 81.6 13.9 734 7945 0.00 2.55 0.00 0.000 4 0.000 0.060 3445 3892 1437

7980 1.54 365.9 76.4 14.0 737 7984 0.00 2.35 0.00 0.000 6 0.000 0.031 3445 2509 1437

8305 1.58 402.8 38.9 9.0 767 8358 0.00 0.00 45.95 0.552 6 0.000 0.000 3445 2507 1293

8550 1.58 402.8 15.8 10.6 793 8557 0.00 0.00 0.00 0.000 6 0.000 0.000 3445 2507 1291

8625 1.58 402.8 7.4 12.6 806 8631 0.00 0.00 0.00 0.000 6 0.000 0.000 3445 2507 1291

8659 end climb: SURFACE_DEPTH_REACHED

state 8659 begin surface coast

8699 end surface coast: CONTROL_FINISHED_OK

state 8699 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	32	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	450	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	450	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	45	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	150	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	175	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	-58138.035	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	151337,2154.584,-15941.377,32,1.0,32,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	5	KALMAN_CONTROL	0.270,-0.180
_XMS_TOUTs	0	KALMAN_X	-45044.4,1004.5,-1.9,44939.2,-1475.8
_SM_DEPTHo	0.95	KALMAN_Y	7823.1,-188.1,-169.6,-10253.9,497.4
_SM_ANGLEo	-68.9	MHEAD_RNG_PITCHd_Wd	113.9,3041,-13.1,-10.000
GPS2	152232,2154.556,-15941.439,13,1.2,13,9.8	D_GRID	450
SPEED_LIMITS	0.173,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.0,1.022880	MM_CLLLayer	0.03
SM_CCo	8723,24.65,0.504,0,0,1101,450.13	MM_CfgFile	0.30
SM_GC	1.12,0.00,0.00,24.65,0.000,0.000,0.504,130,2572,1101,-13.66,0.62,450.13	_24V_AH	23.7,13.667
IRIDIUM_FIX	2145.77,-15911.42,251098,111127	_10V_AH	10.0,4.107
TT8_MAMPS	0.055991	DATA_FILE_SIZE	25289,819
HUMID	1826	CAP_FILE_SIZE	296854,0
INTERNAL_PRESSURE	11.3774	CFSIZE	260034560,253685760
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	310709,175016,2153.867,-15940.778,8,3.2,27,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	184	147.35	SBE_CT	542	24	308.46
Roll_motor	72	78	134.98	nil	0	0	0.00
VBD_pump_during_apogee	824	763	14911.38	nil	0	0	0.00
VBD_pump_during_surface	24	503	294.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	55.69	nil	0	0	0.00
Iridium_during_connect	26	160	99.50	GUMSTIX	124	1000	2961.67
Iridium_during_xfer	332	223	1757.76
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	60	1000	1430.98
GPS	13	50	6.80
TT8	1541	18	277.47
LPSleep	4568	0	17.82
TT8_Active	814	18	146.66
TT8_Sampling	1450	38	551.05
TT8_CF8	892	44	392.79
TT8_Kalman	33	80	26.68
Analog_circuits	1682	12	201.88
GPS_charging	0	0	0.00
Compass	1405	8	112.44
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	87	0.00	0.00	-67.62	0.000	2	0.000	0.000	127	2559	3314
90	-1.39	-243.3	3.5	-7.8	10	119	16.17	0.00	-9.32	0.000	6	0.184	0.000	2791	2558	3930
190	-1.39	-243.3	30.6	-18.5	22	194	0.00	2.42	0.00	0.000	4	0.000	0.059	2791	3887	3934
233	-1.39	-243.3	39.9	-20.8	25	241	0.00	2.30	0.00	0.000	6	0.000	0.029	2790	2538	3934
431	-1.39	-243.3	73.1	-13.4	44	435	0.00	2.35	0.00	0.000	4	0.000	0.032	2791	1159	3934
472	-1.39	-243.3	78.3	-13.7	47	477	0.00	2.40	0.00	0.000	6	0.000	0.033	2791	2551	3934
797	-1.39	-243.3	119.9	-13.5	77	801	0.00	2.45	0.00	0.000	4	0.000	0.065	2791	3889	3934
918	-1.39	-243.3	138.7	-15.7	87	926	0.00	2.25	0.00	0.000	6	0.000	0.028	2791	2534	3934
1243	-1.39	-243.3	181.1	-11.9	118	1247	0.00	2.50	0.00	0.000	4	0.000	0.064	2791	3891	3934
1319	-1.39	-243.3	190.7	-11.7	124	1328	0.00	2.28	0.00	0.000	6	0.000	0.028	2791	2549	3934
1645	-1.39	-243.3	227.5	-11.5	155	1646	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2549	3934
1964	-1.39	-243.3	262.3	-10.8	185	1968	0.00	2.50	0.00	0.000	4	0.000	0.070	2791	3892	3935
2049	-1.39	-243.3	271.2	-10.1	192	2054	0.00	2.25	0.00	0.000	6	0.000	0.031	2791	2557	3934
2374	-1.39	-243.3	306.2	-10.8	222	2378	0.00	2.47	0.00	0.000	4	0.000	0.071	2791	3883	3934
2437	-1.39	-243.3	313.4	-11.8	227	2441	0.00	2.28	0.00	0.000	6	0.000	0.033	2791	2544	3934
2761	-1.39	-243.3	345.3	-8.3	257	2765	0.00	2.53	0.00	0.000	4	0.000	0.073	2791	3890	3934
2857	-1.39	-243.3	353.9	-10.3	265	2861	0.00	2.30	0.00	0.000	6	0.000	0.034	2791	2541	3934
3182	-1.39	-243.3	382.6	-7.8	295	3186	0.00	2.55	0.00	0.000	4	0.000	0.074	2791	3890	3934
3232	-1.39	-243.3	386.9	-8.6	299	3239	0.00	2.30	0.00	0.000	6	0.000	0.035	2791	2552	3932
3557	-1.39	-243.3	415.8	-8.4	330	3561	0.00	2.53	0.00	0.000	4	0.000	0.076	2791	3884	3929
3612	-1.39	-243.3	421.1	-9.8	334	3619	0.00	2.30	0.00	0.000	6	0.000	0.036	2791	2551	3929
3935	end dive: TARGET_DEPTH_EXCEEDED
state	3935	begin apogee
3940	-0.42	0.0	450.2	9.4	365	4259	1.02	0.00	309.10	0.763	6	0.076	0.000	3010	2551	2936
4260	end apogee: CONTROL_FINISHED_OK
state	4261	begin climb
4263	1.39	243.3	468.3	0.0	397	4588	1.77	2.62	313.10	0.739	4	0.049	0.078	3403	3890	1943
4671	1.39	243.3	434.7	13.1	431	4679	0.00	2.42	0.00	0.000	6	0.000	0.038	3403	2531	1940
4996	1.39	243.3	401.0	10.3	462	4997	0.00	0.00	0.00	0.000	6	0.000	0.000	3403	2531	1938
5315	1.41	263.1	370.0	9.4	492	5346	0.00	0.00	24.60	0.719	6	0.000	0.000	3403	2531	1863
5665	1.41	263.1	331.1	12.4	525	5666	0.00	0.00	0.00	0.000	6	0.000	0.000	3403	2531	1859
5982	1.41	263.1	296.6	10.2	555	5986	0.00	2.55	0.00	0.000	4	0.000	0.071	3403	3883	1858
6037	1.41	263.1	290.1	12.3	559	6044	0.00	2.38	0.00	0.000	6	0.000	0.037	3403	2515	1857
6363	1.41	263.1	256.7	10.6	590	6367	0.00	2.47	0.00	0.000	4	0.000	0.048	3403	1119	1857
6414	1.41	263.1	250.9	10.9	594	6419	0.00	2.47	0.00	0.000	6	0.000	0.041	3403	2518	1856
6739	1.42	269.4	219.5	9.8	624	6751	0.00	0.00	7.75	0.613	6	0.000	0.000	3403	2518	1837
7069	1.54	365.9	190.9	7.3	655	7202	0.15	2.53	123.93	0.666	4	0.051	0.041	3445	1116	1444
7264	1.54	365.9	167.5	13.2	671	7271	0.00	2.50	0.00	0.000	6	0.000	0.038	3445	2527	1441
7588	1.54	365.9	127.5	11.7	702	7593	0.00	2.53	0.00	0.000	4	0.000	0.065	3445	3895	1439
7617	1.54	365.9	124.2	12.0	704	7621	0.00	2.38	0.00	0.000	6	0.000	0.031	3445	2503	1438
7941	1.54	365.9	81.6	13.9	734	7945	0.00	2.55	0.00	0.000	4	0.000	0.060	3445	3892	1437
7980	1.54	365.9	76.4	14.0	737	7984	0.00	2.35	0.00	0.000	6	0.000	0.031	3445	2509	1437
8305	1.58	402.8	38.9	9.0	767	8358	0.00	0.00	45.95	0.552	6	0.000	0.000	3445	2507	1293
8550	1.58	402.8	15.8	10.6	793	8557	0.00	0.00	0.00	0.000	6	0.000	0.000	3445	2507	1291
8625	1.58	402.8	7.4	12.6	806	8631	0.00	0.00	0.00	0.000	6	0.000	0.000	3445	2507	1291
8659	end climb: SURFACE_DEPTH_REACHED
state	8659	begin surface coast
8699	end surface coast: CONTROL_FINISHED_OK
state	8699	begin surface