Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 33 * 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 33 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 46 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -58174.328 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 -58174.328

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 46 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 36 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 33 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 175016,2153.867,-15940.778,8,3.2,27,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.114,-0.304

_XMS_TOUTs 0 KALMAN_X -46110.0,837.7,-166.6,47371.0,-1446.3

_SM_DEPTHo 0.92 KALMAN_Y 7988.1,-122.1,-49.0,-11882.3,577.5

_SM_ANGLEo -67.6 MHEAD_RNG_PITCHd_Wd 149.6,6493,-13.1,-10.000

GPS2 175846,2153.862,-15940.841,15,3.5,34,9.8 D_GRID 450

SPEED_LIMITS 0.173,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH -0.0,1.023226 MM_CLLLayer 0.03

SM_CCo 9070,4.45,0.374,0,0,1101,450.13 MM_CfgFile 0.30

SM_GC 0.76,0.00,0.00,4.45,0.000,0.000,0.374,129,2525,1101,-13.67,-0.74,450.13 _24V_AH 23.8,13.880

IRIDIUM_FIX 2148.09,-15928.27,251098,151544 _10V_AH 10.0,4.199

TT8_MAMPS 0.079768 DATA_FILE_SIZE 28361,851

HUMID 1861 CAP_FILE_SIZE 310010,0

INTERNAL_PRESSURE 11.3579 CFSIZE 260034560,253550592

TCM_TEMP 23.60 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 310709,203226,2152.736,-15941.340,38,3.2,57,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 184 147.31 SBE_CT 564 24 322.22

Roll_motor 92 76 168.67 nil 0 0 0.00

VBD_pump_during_apogee 870 770 15961.06 nil 0 0 0.00

VBD_pump_during_surface 4 373 39.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 67.30 nil 0 0 0.00

Iridium_during_connect 24 160 94.70 GUMSTIX 130 1000 3096.81

Iridium_during_xfer 294 223 1560.43

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 62 1000 1480.48

GPS 35 50 17.83

TT8 1602 18 288.38

LPSleep 4723 0 18.42

TT8_Active 840 18 151.23

TT8_Sampling 1547 38 588.16

TT8_CF8 867 44 381.75

TT8_Kalman 33 80 26.68

Analog_circuits 1756 12 210.74

GPS_charging 0 0 0.00

Compass 1475 8 118.04

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 0 100 0.00 0.00 -80.93 0.000 2 0.000 0.000 130 2575 3341

103 -1.39 -243.3 3.4 -7.1 12 140 16.15 2.47 -9.07 0.000 4 0.184 0.045 2792 1162 3931

274 -1.39 -243.3 38.0 -15.7 30 281 0.00 2.40 0.00 0.000 6 0.000 0.035 2792 2545 3935

471 -1.39 -243.3 66.8 -13.8 49 472 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2545 3935

791 -1.39 -243.3 105.6 -12.4 79 795 0.00 2.45 0.00 0.000 4 0.000 0.064 2792 3885 3935

897 -1.39 -243.3 120.0 -13.7 88 901 0.00 2.25 0.00 0.000 6 0.000 0.028 2792 2539 3935

1223 -1.39 -243.3 157.0 -10.5 118 1227 0.00 2.47 0.00 0.000 4 0.000 0.064 2792 3886 3935

1274 -1.39 -243.3 163.3 -12.4 122 1278 0.00 2.25 0.00 0.000 6 0.000 0.028 2792 2540 3935

1598 -1.39 -243.3 198.8 -10.3 152 1603 0.00 2.50 0.00 0.000 4 0.000 0.066 2792 3891 3935

1672 -1.39 -243.3 206.1 -9.6 158 1676 0.00 2.25 0.00 0.000 6 0.000 0.029 2792 2545 3935

1997 -1.39 -243.3 235.8 -8.5 188 2001 0.00 2.50 0.00 0.000 4 0.000 0.067 2792 3892 3935

2070 -1.39 -243.3 242.0 -8.0 194 2074 0.00 2.25 0.00 0.000 6 0.000 0.031 2792 2555 3935

2395 -1.39 -243.3 266.2 -8.7 224 2399 0.00 2.47 0.00 0.000 4 0.000 0.070 2792 3884 3935

2468 -1.39 -243.3 273.3 -9.3 230 2472 0.00 2.28 0.00 0.000 6 0.000 0.032 2792 2542 3935

2792 -1.39 -243.3 306.0 -10.1 260 2796 0.00 2.53 0.00 0.000 4 0.000 0.072 2792 3889 3936

2864 -1.39 -243.3 314.0 -11.5 266 2869 0.00 2.28 0.00 0.000 6 0.000 0.034 2792 2552 3935

3189 -1.39 -243.3 342.0 -8.3 296 3193 0.00 2.50 0.00 0.000 4 0.000 0.073 2792 3884 3932

3233 -1.39 -243.3 346.2 -9.5 299 3241 0.00 2.30 0.00 0.000 6 0.000 0.035 2792 2540 3933

3559 -1.39 -243.3 376.1 -9.6 330 3563 0.00 2.53 0.00 0.000 4 0.000 0.074 2792 3883 3929

3597 -1.39 -243.3 380.1 -10.7 333 3602 0.00 2.30 0.00 0.000 6 0.000 0.036 2792 2547 3929

3922 -1.39 -243.3 410.3 -8.7 363 3926 0.00 2.53 0.00 0.000 4 0.000 0.076 2792 3884 3927

3974 -1.39 -243.3 414.8 -9.1 367 3978 0.00 2.30 0.00 0.000 6 0.000 0.038 2792 2551 3926

4299 -1.39 -243.3 442.2 -8.5 397 4303 0.00 2.50 0.00 0.000 4 0.000 0.077 2792 3884 3925

4364 -1.39 -243.3 447.9 -9.2 402 4372 0.00 2.35 0.00 0.000 6 0.000 0.038 2792 2548 3924

4391 end dive: TARGET_DEPTH_EXCEEDED

state 4391 begin apogee

4395 -0.42 0.0 450.1 8.2 405 4714 1.02 0.00 307.55 0.770 6 0.077 0.000 3009 2546 2936

4715 end apogee: CONTROL_FINISHED_OK

state 4716 begin climb

4718 1.39 243.3 461.9 0.0 437 5043 1.77 2.65 312.10 0.742 4 0.051 0.053 3401 1129 1944

5094 1.39 243.3 432.7 11.5 469 5098 0.00 2.50 0.00 0.000 6 0.000 0.044 3401 2516 1941

5424 1.39 243.3 397.7 11.7 500 5428 0.00 2.60 0.00 0.000 4 0.000 0.077 3400 3887 1939

5463 1.39 243.3 392.8 12.7 503 5467 0.00 2.40 0.00 0.000 6 0.000 0.039 3401 2517 1938

5787 1.47 312.7 360.7 8.1 533 5879 0.00 0.00 88.97 0.734 6 0.000 0.000 3401 2517 1661

6196 1.47 312.7 319.0 12.6 572 6197 0.00 0.00 0.00 0.000 6 0.000 0.000 3401 2517 1655

6515 1.49 330.7 283.6 9.5 602 6543 0.12 2.62 22.98 0.701 4 0.057 0.071 3436 3888 1587

6599 1.49 330.7 273.3 12.6 609 6606 0.00 2.40 0.00 0.000 6 0.000 0.038 3436 2514 1586

6924 1.49 330.7 231.6 13.9 640 6928 0.00 2.47 0.00 0.000 4 0.000 0.048 3436 1120 1584

6996 1.49 330.7 221.7 13.8 646 7001 0.00 2.50 0.00 0.000 6 0.000 0.041 3436 2529 1583

7321 1.49 330.7 181.3 12.8 676 7325 0.00 2.53 0.00 0.000 4 0.000 0.069 3436 3888 1582

7360 1.49 330.7 176.4 12.9 679 7364 0.00 2.38 0.00 0.000 6 0.000 0.036 3436 2515 1582

7684 1.49 330.7 136.1 11.7 709 7688 0.00 2.42 0.00 0.000 4 0.000 0.042 3436 1123 1581

7721 1.49 330.7 131.6 11.6 712 7729 0.00 2.50 0.00 0.000 6 0.000 0.038 3436 2526 1581

8047 1.49 330.7 93.7 11.8 743 8048 0.00 0.00 0.00 0.000 6 0.000 0.000 3436 2526 1581

8365 1.49 330.7 61.8 10.1 773 8369 0.00 2.50 0.00 0.000 4 0.000 0.063 3436 3893 1581

8397 1.49 330.7 58.1 11.0 775 8405 0.00 2.38 0.00 0.000 6 0.000 0.031 3437 2511 1581

8723 1.62 430.3 30.1 7.2 806 8856 0.00 2.47 121.38 0.551 4 0.000 0.039 3436 1133 1181

8907 1.64 445.2 12.9 9.6 827 8935 0.00 2.42 17.90 0.504 6 0.000 0.033 3437 2524 1120

8995 end climb: SURFACE_DEPTH_REACHED

state 8995 begin surface coast

9046 end surface coast: CONTROL_FINISHED_OK

state 9047 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	33	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	46	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-58174.328	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	175016,2153.867,-15940.778,8,3.2,27,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.114,-0.304
_XMS_TOUTs	0	KALMAN_X	-46110.0,837.7,-166.6,47371.0,-1446.3
_SM_DEPTHo	0.92	KALMAN_Y	7988.1,-122.1,-49.0,-11882.3,577.5
_SM_ANGLEo	-67.6	MHEAD_RNG_PITCHd_Wd	149.6,6493,-13.1,-10.000
GPS2	175846,2153.862,-15940.841,15,3.5,34,9.8	D_GRID	450
SPEED_LIMITS	0.173,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	-0.0,1.023226	MM_CLLLayer	0.03
SM_CCo	9070,4.45,0.374,0,0,1101,450.13	MM_CfgFile	0.30
SM_GC	0.76,0.00,0.00,4.45,0.000,0.000,0.374,129,2525,1101,-13.67,-0.74,450.13	_24V_AH	23.8,13.880
IRIDIUM_FIX	2148.09,-15928.27,251098,151544	_10V_AH	10.0,4.199
TT8_MAMPS	0.079768	DATA_FILE_SIZE	28361,851
HUMID	1861	CAP_FILE_SIZE	310010,0
INTERNAL_PRESSURE	11.3579	CFSIZE	260034560,253550592
TCM_TEMP	23.60	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	310709,203226,2152.736,-15941.340,38,3.2,57,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	184	147.31	SBE_CT	564	24	322.22
Roll_motor	92	76	168.67	nil	0	0	0.00
VBD_pump_during_apogee	870	770	15961.06	nil	0	0	0.00
VBD_pump_during_surface	4	373	39.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	67.30	nil	0	0	0.00
Iridium_during_connect	24	160	94.70	GUMSTIX	130	1000	3096.81
Iridium_during_xfer	294	223	1560.43
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	62	1000	1480.48
GPS	35	50	17.83
TT8	1602	18	288.38
LPSleep	4723	0	18.42
TT8_Active	840	18	151.23
TT8_Sampling	1547	38	588.16
TT8_CF8	867	44	381.75
TT8_Kalman	33	80	26.68
Analog_circuits	1756	12	210.74
GPS_charging	0	0	0.00
Compass	1475	8	118.04
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	100	0.00	0.00	-80.93	0.000	2	0.000	0.000	130	2575	3341
103	-1.39	-243.3	3.4	-7.1	12	140	16.15	2.47	-9.07	0.000	4	0.184	0.045	2792	1162	3931
274	-1.39	-243.3	38.0	-15.7	30	281	0.00	2.40	0.00	0.000	6	0.000	0.035	2792	2545	3935
471	-1.39	-243.3	66.8	-13.8	49	472	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2545	3935
791	-1.39	-243.3	105.6	-12.4	79	795	0.00	2.45	0.00	0.000	4	0.000	0.064	2792	3885	3935
897	-1.39	-243.3	120.0	-13.7	88	901	0.00	2.25	0.00	0.000	6	0.000	0.028	2792	2539	3935
1223	-1.39	-243.3	157.0	-10.5	118	1227	0.00	2.47	0.00	0.000	4	0.000	0.064	2792	3886	3935
1274	-1.39	-243.3	163.3	-12.4	122	1278	0.00	2.25	0.00	0.000	6	0.000	0.028	2792	2540	3935
1598	-1.39	-243.3	198.8	-10.3	152	1603	0.00	2.50	0.00	0.000	4	0.000	0.066	2792	3891	3935
1672	-1.39	-243.3	206.1	-9.6	158	1676	0.00	2.25	0.00	0.000	6	0.000	0.029	2792	2545	3935
1997	-1.39	-243.3	235.8	-8.5	188	2001	0.00	2.50	0.00	0.000	4	0.000	0.067	2792	3892	3935
2070	-1.39	-243.3	242.0	-8.0	194	2074	0.00	2.25	0.00	0.000	6	0.000	0.031	2792	2555	3935
2395	-1.39	-243.3	266.2	-8.7	224	2399	0.00	2.47	0.00	0.000	4	0.000	0.070	2792	3884	3935
2468	-1.39	-243.3	273.3	-9.3	230	2472	0.00	2.28	0.00	0.000	6	0.000	0.032	2792	2542	3935
2792	-1.39	-243.3	306.0	-10.1	260	2796	0.00	2.53	0.00	0.000	4	0.000	0.072	2792	3889	3936
2864	-1.39	-243.3	314.0	-11.5	266	2869	0.00	2.28	0.00	0.000	6	0.000	0.034	2792	2552	3935
3189	-1.39	-243.3	342.0	-8.3	296	3193	0.00	2.50	0.00	0.000	4	0.000	0.073	2792	3884	3932
3233	-1.39	-243.3	346.2	-9.5	299	3241	0.00	2.30	0.00	0.000	6	0.000	0.035	2792	2540	3933
3559	-1.39	-243.3	376.1	-9.6	330	3563	0.00	2.53	0.00	0.000	4	0.000	0.074	2792	3883	3929
3597	-1.39	-243.3	380.1	-10.7	333	3602	0.00	2.30	0.00	0.000	6	0.000	0.036	2792	2547	3929
3922	-1.39	-243.3	410.3	-8.7	363	3926	0.00	2.53	0.00	0.000	4	0.000	0.076	2792	3884	3927
3974	-1.39	-243.3	414.8	-9.1	367	3978	0.00	2.30	0.00	0.000	6	0.000	0.038	2792	2551	3926
4299	-1.39	-243.3	442.2	-8.5	397	4303	0.00	2.50	0.00	0.000	4	0.000	0.077	2792	3884	3925
4364	-1.39	-243.3	447.9	-9.2	402	4372	0.00	2.35	0.00	0.000	6	0.000	0.038	2792	2548	3924
4391	end dive: TARGET_DEPTH_EXCEEDED
state	4391	begin apogee
4395	-0.42	0.0	450.1	8.2	405	4714	1.02	0.00	307.55	0.770	6	0.077	0.000	3009	2546	2936
4715	end apogee: CONTROL_FINISHED_OK
state	4716	begin climb
4718	1.39	243.3	461.9	0.0	437	5043	1.77	2.65	312.10	0.742	4	0.051	0.053	3401	1129	1944
5094	1.39	243.3	432.7	11.5	469	5098	0.00	2.50	0.00	0.000	6	0.000	0.044	3401	2516	1941
5424	1.39	243.3	397.7	11.7	500	5428	0.00	2.60	0.00	0.000	4	0.000	0.077	3400	3887	1939
5463	1.39	243.3	392.8	12.7	503	5467	0.00	2.40	0.00	0.000	6	0.000	0.039	3401	2517	1938
5787	1.47	312.7	360.7	8.1	533	5879	0.00	0.00	88.97	0.734	6	0.000	0.000	3401	2517	1661
6196	1.47	312.7	319.0	12.6	572	6197	0.00	0.00	0.00	0.000	6	0.000	0.000	3401	2517	1655
6515	1.49	330.7	283.6	9.5	602	6543	0.12	2.62	22.98	0.701	4	0.057	0.071	3436	3888	1587
6599	1.49	330.7	273.3	12.6	609	6606	0.00	2.40	0.00	0.000	6	0.000	0.038	3436	2514	1586
6924	1.49	330.7	231.6	13.9	640	6928	0.00	2.47	0.00	0.000	4	0.000	0.048	3436	1120	1584
6996	1.49	330.7	221.7	13.8	646	7001	0.00	2.50	0.00	0.000	6	0.000	0.041	3436	2529	1583
7321	1.49	330.7	181.3	12.8	676	7325	0.00	2.53	0.00	0.000	4	0.000	0.069	3436	3888	1582
7360	1.49	330.7	176.4	12.9	679	7364	0.00	2.38	0.00	0.000	6	0.000	0.036	3436	2515	1582
7684	1.49	330.7	136.1	11.7	709	7688	0.00	2.42	0.00	0.000	4	0.000	0.042	3436	1123	1581
7721	1.49	330.7	131.6	11.6	712	7729	0.00	2.50	0.00	0.000	6	0.000	0.038	3436	2526	1581
8047	1.49	330.7	93.7	11.8	743	8048	0.00	0.00	0.00	0.000	6	0.000	0.000	3436	2526	1581
8365	1.49	330.7	61.8	10.1	773	8369	0.00	2.50	0.00	0.000	4	0.000	0.063	3436	3893	1581
8397	1.49	330.7	58.1	11.0	775	8405	0.00	2.38	0.00	0.000	6	0.000	0.031	3437	2511	1581
8723	1.62	430.3	30.1	7.2	806	8856	0.00	2.47	121.38	0.551	4	0.000	0.039	3436	1133	1181
8907	1.64	445.2	12.9	9.6	827	8935	0.00	2.42	17.90	0.504	6	0.000	0.033	3437	2524	1120
8995	end climb: SURFACE_DEPTH_REACHED
state	8995	begin surface coast
9046	end surface coast: CONTROL_FINISHED_OK
state	9047	begin surface