Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 34 * 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 34 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 23 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 -58189.203 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 45 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 45 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 -58189.203

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 23 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 34 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 203226,2152.736,-15941.340,38,3.2,57,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 8 KALMAN_CONTROL 0.174,-0.274

_XMS_TOUTs 0 KALMAN_X -47665.9,241.1,-176.5,48382.8,-1609.0

_SM_DEPTHo 0.84 KALMAN_Y 8276.0,45.8,171.2,-14611.6,341.9

_SM_ANGLEo -68.2 MHEAD_RNG_PITCHd_Wd 137.7,4325,-13.1,-10.000

GPS2 204208,2152.755,-15941.516,14,1.2,14,9.8 D_GRID 450

SPEED_LIMITS 0.100,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH -0.1,1.009804 MM_CLLLayer 0.03

SM_CCo 9063,38.17,0.517,0,0,1101,450.13 MM_CfgFile 0.30

SM_GC 0.80,0.00,0.00,38.17,0.000,0.000,0.517,129,2533,1101,-13.66,-0.48,450.13 _24V_AH 23.8,14.092

IRIDIUM_FIX 2143.45,-15940.77,251098,181814 _10V_AH 10.0,4.286

TT8_MAMPS 0.060593 DATA_FILE_SIZE 28388,859

HUMID 1881 CAP_FILE_SIZE 306272,0

INTERNAL_PRESSURE 11.3579 CFSIZE 260034560,253431808

TCM_TEMP 23.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 310709,231606,2151.603,-15941.736,42,1.1,47,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 181 145.07 SBE_CT 570 24 325.88

Roll_motor 68 79 128.84 nil 0 0 0.00

VBD_pump_during_apogee 780 775 14407.67 nil 0 0 0.00

VBD_pump_during_surface 38 516 469.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 63.79 nil 0 0 0.00

Iridium_during_connect 29 160 112.59 GUMSTIX 117 1000 2797.64

Iridium_during_xfer 381 223 2026.83

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 62 1000 1492.14

GPS 14 50 7.12

TT8 1613 18 290.44

LPSleep 4835 0 18.86

TT8_Active 820 18 147.62

TT8_Sampling 1456 38 553.43

TT8_CF8 955 44 420.46

TT8_Kalman 33 80 26.68

Analog_circuits 1662 12 199.50

GPS_charging 0 0 0.00

Compass 1411 8 112.95

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.39 -243.3 0.0 0.0 0 101 0.00 0.00 -80.57 0.000 2 0.000 0.000 129 2529 3338

104 -1.39 -243.3 3.5 -7.5 12 134 16.02 2.42 -9.10 0.000 4 0.181 0.045 2791 1156 3930

186 -1.39 -243.3 25.8 -14.9 22 193 0.00 2.42 0.00 0.000 6 0.000 0.034 2791 2553 3934

383 -1.39 -243.3 56.0 -14.9 41 384 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2553 3934

702 -1.39 -243.3 94.2 -11.2 71 706 0.00 2.42 0.00 0.000 4 0.000 0.064 2791 3886 3934

769 -1.39 -243.3 102.5 -11.8 77 773 0.00 2.25 0.00 0.000 6 0.000 0.029 2791 2545 3934

1093 -1.39 -243.3 138.8 -11.7 107 1094 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2545 3934

1413 -1.39 -243.3 175.5 -11.1 137 1417 0.00 2.47 0.00 0.000 4 0.000 0.066 2791 3885 3934

1457 -1.39 -243.3 180.7 -10.9 140 1464 0.00 2.28 0.00 0.000 6 0.000 0.029 2791 2548 3934

1783 -1.39 -243.3 214.5 -9.9 171 1787 0.00 2.47 0.00 0.000 4 0.000 0.067 2791 3889 3934

1844 -1.39 -243.3 221.3 -11.5 176 1849 0.00 2.25 0.00 0.000 6 0.000 0.031 2791 2555 3934

2175 -1.39 -243.3 258.2 -10.6 207 2179 0.00 2.47 0.00 0.000 4 0.000 0.069 2791 3884 3934

2226 -1.39 -243.3 263.8 -10.9 211 2230 0.00 2.28 0.00 0.000 6 0.000 0.032 2791 2540 3934

2551 -1.39 -243.3 293.5 -9.1 241 2552 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2540 3934

2869 -1.39 -243.3 325.9 -10.9 271 2873 0.00 2.50 0.00 0.000 4 0.000 0.073 2791 3884 3934

2945 -1.39 -243.3 334.3 -10.4 277 2954 0.00 2.33 0.00 0.000 6 0.000 0.035 2791 2548 3934

3271 -1.39 -243.3 363.8 -8.6 308 3276 0.00 2.50 0.00 0.000 4 0.000 0.074 2791 3884 3930

3304 -1.39 -243.3 366.8 -8.7 310 3312 0.00 2.30 0.00 0.000 6 0.000 0.037 2791 2551 3929

3631 -1.39 -243.3 394.5 -8.4 341 3632 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2552 3927

3948 -1.39 -243.3 421.5 -7.9 371 3949 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2551 3925

4266 -1.39 -243.3 445.3 -7.2 401 4271 0.00 2.53 0.00 0.000 4 0.000 0.079 2791 3883 3922

4328 end dive: TARGET_DEPTH_EXCEEDED

state 4328 begin apogee

4336 -0.42 0.0 450.1 8.4 406 4648 1.00 0.00 305.45 0.775 6 0.077 0.000 3007 2520 2936

4649 end apogee: CONTROL_FINISHED_OK

state 4649 begin climb

4651 1.39 243.3 462.2 0.0 437 4977 1.80 2.67 312.02 0.743 4 0.051 0.079 3402 3884 1944

5045 1.39 243.3 435.1 11.5 472 5049 0.00 2.42 0.00 0.000 6 0.000 0.039 3402 2512 1940

5370 1.39 243.3 400.8 10.8 502 5374 0.00 2.53 0.00 0.000 4 0.000 0.053 3403 1111 1939

5401 1.39 243.3 397.2 11.4 504 5409 0.00 2.55 0.00 0.000 6 0.000 0.044 3402 2515 1938

5726 1.39 243.3 361.4 11.5 535 5731 0.00 2.50 0.00 0.000 4 0.000 0.049 3403 1116 1936

5798 1.39 243.3 353.3 11.1 541 5806 0.00 2.55 0.00 0.000 6 0.000 0.044 3403 2524 1936

6124 1.42 268.2 321.5 9.3 572 6161 0.00 2.62 30.45 0.734 4 0.000 0.076 3402 3889 1842

6210 1.42 268.2 312.4 11.3 579 6218 0.00 2.45 0.00 0.000 6 0.000 0.038 3402 2513 1840

6536 1.43 275.7 281.5 9.8 610 6548 0.00 0.00 9.75 0.665 6 0.000 0.000 3402 2511 1813

6864 1.43 275.7 246.0 11.5 641 6865 0.00 0.00 0.00 0.000 6 0.000 0.000 3402 2511 1811

7183 1.43 275.7 208.0 11.5 671 7187 0.00 2.58 0.00 0.000 4 0.000 0.067 3402 3889 1810

7259 1.43 275.7 199.0 12.3 677 7267 0.00 2.40 0.00 0.000 6 0.000 0.037 3403 2520 1810

7585 1.54 371.5 168.7 7.3 708 7718 0.15 0.00 123.00 0.665 6 0.048 0.000 3447 2520 1421

8033 1.54 371.5 115.3 12.3 751 8038 0.00 2.45 0.00 0.000 4 0.000 0.041 3448 1124 1415

8118 1.54 371.5 105.1 12.0 758 8122 0.00 2.47 0.00 0.000 6 0.000 0.037 3448 2533 1414

8442 1.54 371.5 64.8 12.3 788 8443 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2533 1413

8761 1.54 371.5 29.3 11.0 818 8762 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2534 1412

8959 1.54 371.5 8.5 10.3 845 8965 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2533 1413

8999 end climb: SURFACE_DEPTH_REACHED

state 8999 begin surface coast

9039 end surface coast: CONTROL_FINISHED_OK

state 9039 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	34	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	23	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	-58189.203	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	45	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	203226,2152.736,-15941.340,38,3.2,57,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	8	KALMAN_CONTROL	0.174,-0.274
_XMS_TOUTs	0	KALMAN_X	-47665.9,241.1,-176.5,48382.8,-1609.0
_SM_DEPTHo	0.84	KALMAN_Y	8276.0,45.8,171.2,-14611.6,341.9
_SM_ANGLEo	-68.2	MHEAD_RNG_PITCHd_Wd	137.7,4325,-13.1,-10.000
GPS2	204208,2152.755,-15941.516,14,1.2,14,9.8	D_GRID	450
SPEED_LIMITS	0.100,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	-0.1,1.009804	MM_CLLLayer	0.03
SM_CCo	9063,38.17,0.517,0,0,1101,450.13	MM_CfgFile	0.30
SM_GC	0.80,0.00,0.00,38.17,0.000,0.000,0.517,129,2533,1101,-13.66,-0.48,450.13	_24V_AH	23.8,14.092
IRIDIUM_FIX	2143.45,-15940.77,251098,181814	_10V_AH	10.0,4.286
TT8_MAMPS	0.060593	DATA_FILE_SIZE	28388,859
HUMID	1881	CAP_FILE_SIZE	306272,0
INTERNAL_PRESSURE	11.3579	CFSIZE	260034560,253431808
TCM_TEMP	23.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	310709,231606,2151.603,-15941.736,42,1.1,47,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	181	145.07	SBE_CT	570	24	325.88
Roll_motor	68	79	128.84	nil	0	0	0.00
VBD_pump_during_apogee	780	775	14407.67	nil	0	0	0.00
VBD_pump_during_surface	38	516	469.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	63.79	nil	0	0	0.00
Iridium_during_connect	29	160	112.59	GUMSTIX	117	1000	2797.64
Iridium_during_xfer	381	223	2026.83
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	62	1000	1492.14
GPS	14	50	7.12
TT8	1613	18	290.44
LPSleep	4835	0	18.86
TT8_Active	820	18	147.62
TT8_Sampling	1456	38	553.43
TT8_CF8	955	44	420.46
TT8_Kalman	33	80	26.68
Analog_circuits	1662	12	199.50
GPS_charging	0	0	0.00
Compass	1411	8	112.95
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.39	-243.3	0.0	0.0	0	101	0.00	0.00	-80.57	0.000	2	0.000	0.000	129	2529	3338
104	-1.39	-243.3	3.5	-7.5	12	134	16.02	2.42	-9.10	0.000	4	0.181	0.045	2791	1156	3930
186	-1.39	-243.3	25.8	-14.9	22	193	0.00	2.42	0.00	0.000	6	0.000	0.034	2791	2553	3934
383	-1.39	-243.3	56.0	-14.9	41	384	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2553	3934
702	-1.39	-243.3	94.2	-11.2	71	706	0.00	2.42	0.00	0.000	4	0.000	0.064	2791	3886	3934
769	-1.39	-243.3	102.5	-11.8	77	773	0.00	2.25	0.00	0.000	6	0.000	0.029	2791	2545	3934
1093	-1.39	-243.3	138.8	-11.7	107	1094	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2545	3934
1413	-1.39	-243.3	175.5	-11.1	137	1417	0.00	2.47	0.00	0.000	4	0.000	0.066	2791	3885	3934
1457	-1.39	-243.3	180.7	-10.9	140	1464	0.00	2.28	0.00	0.000	6	0.000	0.029	2791	2548	3934
1783	-1.39	-243.3	214.5	-9.9	171	1787	0.00	2.47	0.00	0.000	4	0.000	0.067	2791	3889	3934
1844	-1.39	-243.3	221.3	-11.5	176	1849	0.00	2.25	0.00	0.000	6	0.000	0.031	2791	2555	3934
2175	-1.39	-243.3	258.2	-10.6	207	2179	0.00	2.47	0.00	0.000	4	0.000	0.069	2791	3884	3934
2226	-1.39	-243.3	263.8	-10.9	211	2230	0.00	2.28	0.00	0.000	6	0.000	0.032	2791	2540	3934
2551	-1.39	-243.3	293.5	-9.1	241	2552	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2540	3934
2869	-1.39	-243.3	325.9	-10.9	271	2873	0.00	2.50	0.00	0.000	4	0.000	0.073	2791	3884	3934
2945	-1.39	-243.3	334.3	-10.4	277	2954	0.00	2.33	0.00	0.000	6	0.000	0.035	2791	2548	3934
3271	-1.39	-243.3	363.8	-8.6	308	3276	0.00	2.50	0.00	0.000	4	0.000	0.074	2791	3884	3930
3304	-1.39	-243.3	366.8	-8.7	310	3312	0.00	2.30	0.00	0.000	6	0.000	0.037	2791	2551	3929
3631	-1.39	-243.3	394.5	-8.4	341	3632	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2552	3927
3948	-1.39	-243.3	421.5	-7.9	371	3949	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2551	3925
4266	-1.39	-243.3	445.3	-7.2	401	4271	0.00	2.53	0.00	0.000	4	0.000	0.079	2791	3883	3922
4328	end dive: TARGET_DEPTH_EXCEEDED
state	4328	begin apogee
4336	-0.42	0.0	450.1	8.4	406	4648	1.00	0.00	305.45	0.775	6	0.077	0.000	3007	2520	2936
4649	end apogee: CONTROL_FINISHED_OK
state	4649	begin climb
4651	1.39	243.3	462.2	0.0	437	4977	1.80	2.67	312.02	0.743	4	0.051	0.079	3402	3884	1944
5045	1.39	243.3	435.1	11.5	472	5049	0.00	2.42	0.00	0.000	6	0.000	0.039	3402	2512	1940
5370	1.39	243.3	400.8	10.8	502	5374	0.00	2.53	0.00	0.000	4	0.000	0.053	3403	1111	1939
5401	1.39	243.3	397.2	11.4	504	5409	0.00	2.55	0.00	0.000	6	0.000	0.044	3402	2515	1938
5726	1.39	243.3	361.4	11.5	535	5731	0.00	2.50	0.00	0.000	4	0.000	0.049	3403	1116	1936
5798	1.39	243.3	353.3	11.1	541	5806	0.00	2.55	0.00	0.000	6	0.000	0.044	3403	2524	1936
6124	1.42	268.2	321.5	9.3	572	6161	0.00	2.62	30.45	0.734	4	0.000	0.076	3402	3889	1842
6210	1.42	268.2	312.4	11.3	579	6218	0.00	2.45	0.00	0.000	6	0.000	0.038	3402	2513	1840
6536	1.43	275.7	281.5	9.8	610	6548	0.00	0.00	9.75	0.665	6	0.000	0.000	3402	2511	1813
6864	1.43	275.7	246.0	11.5	641	6865	0.00	0.00	0.00	0.000	6	0.000	0.000	3402	2511	1811
7183	1.43	275.7	208.0	11.5	671	7187	0.00	2.58	0.00	0.000	4	0.000	0.067	3402	3889	1810
7259	1.43	275.7	199.0	12.3	677	7267	0.00	2.40	0.00	0.000	6	0.000	0.037	3403	2520	1810
7585	1.54	371.5	168.7	7.3	708	7718	0.15	0.00	123.00	0.665	6	0.048	0.000	3447	2520	1421
8033	1.54	371.5	115.3	12.3	751	8038	0.00	2.45	0.00	0.000	4	0.000	0.041	3448	1124	1415
8118	1.54	371.5	105.1	12.0	758	8122	0.00	2.47	0.00	0.000	6	0.000	0.037	3448	2533	1414
8442	1.54	371.5	64.8	12.3	788	8443	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2533	1413
8761	1.54	371.5	29.3	11.0	818	8762	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2534	1412
8959	1.54	371.5	8.5	10.3	845	8965	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2533	1413
8999	end climb: SURFACE_DEPTH_REACHED
state	8999	begin surface coast
9039	end surface coast: CONTROL_FINISHED_OK
state	9039	begin surface