Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 34 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 24 ESCAPE_HEADING 180 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 34 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3825 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 1970 ALTIM_FREQUENCY 13

D_TGT 270 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1994 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 42 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 90 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 120 CALL_TRIES 5 VBD_MAX 3936 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2917 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 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -107052.58 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 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 409 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2542 PRESSURE_YINT -7.1530929 SEABIRD_T_G 0.00439469

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163939 SEABIRD_T_H 0.00064900791

MASS 51956 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5454905e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5957725e-06

FERRY_MAX 0 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.918622

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1128848

HD_A 0.0038360001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0018190074

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019276177

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 PITCH_GAIN 13 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 270 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163939 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1530929 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 90

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 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -107052.58

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 120

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 117 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3825 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2542 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1994 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1970 MASS 51956 R_PORT_OVSHOOT 42 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 40 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 24 SEABIRD_C_G -9.918622 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1128848 VBD_MAX 3936

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00019276177 VBD_MIN 746

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-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 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 003426,2154.176,-15943.571,26,3.4,46,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.320,-0.063

_XMS_TOUTs 0 KALMAN_X -39424.0,-1505.4,-58.0,41977.4,-885.5

_SM_DEPTHo 1.09 KALMAN_Y 9594.6,219.4,131.8,-12683.1,95.8

_SM_ANGLEo -51.8 MHEAD_RNG_PITCHd_Wd 91.4,6151,-13.9,-10.000

GPS2 004308,2154.230,-15943.735,13,1.4,13,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.4,1.023154 MM_CLLLayer 0.03

SM_CCo 5177,0.00,0.000,0,0,823,513.66 MM_CfgFile 0.30

SM_GC 1.08,10.93,0.00,0.00,0.028,0.000,0.000,403,1963,823,-9.78,-0.20,513.66 _24V_AH 24.0,11.888

IRIDIUM_FIX 2143.45,-15943.76,261098,232336 _10V_AH 10.2,5.177

TT8_MAMPS 0.082069 DATA_FILE_SIZE 15878,496

HUMID 1940 CAP_FILE_SIZE 58762,0

INTERNAL_PRESSURE 7.56865 CFSIZE 260165632,253882368

TCM_TEMP 24.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 020809,021102,2154.258,-15943.357,13,1.9,13,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 181 109.07 SBE_CT 334 24 192.86

Roll_motor 44 111 119.80 nil 0 0 0.00

VBD_pump_during_apogee 621 687 10249.52 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 26 103 65.01 nil 0 0 0.00

Iridium_during_connect 27 160 106.64 GUMSTIX 72 1000 1740.05

Iridium_during_xfer 325 223 1743.97

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 49 1000 1197.02

GPS 13 50 6.83

TT8 866 18 159.07

LPSleep 2756 0 10.97

TT8_Active 639 18 117.45

TT8_Sampling 884 38 342.91

TT8_CF8 560 44 251.69

TT8_Kalman 33 80 27.21

Analog_circuits 1179 12 144.36

GPS_charging 0 0 0.00

Compass 846 8 69.11

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

17 -1.37 -243.3 0.0 0.0 0 118 0.00 0.00 -96.97 0.000 2 0.000 0.000 403 1948 3283

121 -1.37 -243.3 3.4 -7.3 16 149 11.00 2.45 -10.80 0.000 4 0.182 0.068 2239 585 3913

239 -1.37 -243.3 31.3 -19.0 31 244 0.00 2.35 0.00 0.000 6 0.000 0.031 2239 1974 3914

436 -1.37 -243.3 66.7 -16.4 49 441 0.00 2.50 0.00 0.000 4 0.000 0.057 2238 584 3914

492 -1.37 -243.3 76.3 -16.2 53 499 0.00 2.35 0.00 0.000 6 0.000 0.031 2239 1980 3914

817 -1.37 -243.3 125.1 -15.4 84 821 0.00 2.45 0.00 0.000 4 0.000 0.054 2239 3362 3916

860 -1.37 -243.3 132.3 -15.8 87 868 0.00 2.38 0.00 0.000 6 0.000 0.035 2238 1975 3916

1187 -1.37 -243.3 176.8 -13.5 118 1191 0.00 2.55 0.00 0.000 4 0.000 0.063 2238 568 3916

1220 -1.37 -243.3 181.6 -13.4 120 1227 0.00 2.38 0.00 0.000 6 0.000 0.033 2239 1974 3917

1547 -1.37 -243.3 222.2 -13.1 151 1548 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1974 3917

1864 -1.37 -243.3 256.2 -9.9 181 1868 0.00 2.50 0.00 0.000 4 0.000 0.058 2239 3365 3918

1909 -1.37 -243.3 260.8 -10.5 185 1913 0.00 2.40 0.00 0.000 6 0.000 0.038 2238 1973 3917

2014 end dive: TARGET_DEPTH_EXCEEDED

state 2014 begin apogee

2019 -0.38 0.0 270.6 9.1 195 2227 1.05 0.00 197.27 0.687 6 0.090 0.000 2455 1973 2917

2228 end apogee: CONTROL_FINISHED_OK

state 2228 begin climb

2230 1.37 243.3 276.6 0.0 216 2439 1.75 2.62 197.75 0.672 4 0.059 0.059 2836 3387 1924

2478 1.54 380.3 265.2 6.2 237 2602 0.17 2.45 115.53 0.661 6 0.040 0.040 2889 1995 1365

2927 1.54 380.3 223.0 10.1 279 2931 0.00 2.62 0.00 0.000 4 0.000 0.071 2889 590 1357

2970 1.54 380.3 218.2 11.5 282 2977 0.00 2.45 0.00 0.000 6 0.000 0.038 2889 2004 1356

3297 1.54 380.3 182.5 10.4 313 3298 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 2007 1354

3614 1.54 380.3 146.4 11.4 343 3615 0.00 0.00 0.00 0.000 6 0.000 0.000 2889 2007 1352

3933 1.65 475.0 118.2 7.4 373 4018 0.00 2.67 78.70 0.625 4 0.000 0.063 2889 595 980

4042 1.68 500.8 109.4 9.3 383 4072 0.00 2.42 22.25 0.582 6 0.000 0.035 2889 1996 875

4389 1.70 511.9 78.8 9.7 416 4402 0.10 0.00 9.93 0.529 6 0.050 0.000 2930 1997 830

4718 1.70 511.9 40.1 11.0 447 4722 0.00 2.58 0.00 0.000 4 0.000 0.061 2930 590 825

4791 1.70 511.9 32.0 11.6 453 4795 0.00 2.40 0.00 0.000 6 0.000 0.032 2930 2002 825

4992 1.70 511.9 10.2 12.1 478 4998 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2002 825

5067 1.70 511.9 2.0 11.2 491 5073 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2002 825

5077 end climb: SURFACE_DEPTH_REACHED

state 5077 begin surface coast

5095 end surface coast: CONTROL_FINISHED_OK

state 5096 begin surface

ID	117	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	24	ESCAPE_HEADING	180	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	34	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3825	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	1970	ALTIM_FREQUENCY	13
D_TGT	270	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1994	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	42	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	90	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	120	CALL_TRIES	5	VBD_MAX	3936	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2917	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	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-107052.58	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	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	409	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2542	PRESSURE_YINT	-7.1530929	SEABIRD_T_G	0.00439469
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163939	SEABIRD_T_H	0.00064900791
MASS	51956	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5454905e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5957725e-06
FERRY_MAX	0	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.918622
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1128848
HD_A	0.0038360001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0018190074
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019276177
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	003426,2154.176,-15943.571,26,3.4,46,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.320,-0.063
_XMS_TOUTs	0	KALMAN_X	-39424.0,-1505.4,-58.0,41977.4,-885.5
_SM_DEPTHo	1.09	KALMAN_Y	9594.6,219.4,131.8,-12683.1,95.8
_SM_ANGLEo	-51.8	MHEAD_RNG_PITCHd_Wd	91.4,6151,-13.9,-10.000
GPS2	004308,2154.230,-15943.735,13,1.4,13,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.4,1.023154	MM_CLLLayer	0.03
SM_CCo	5177,0.00,0.000,0,0,823,513.66	MM_CfgFile	0.30
SM_GC	1.08,10.93,0.00,0.00,0.028,0.000,0.000,403,1963,823,-9.78,-0.20,513.66	_24V_AH	24.0,11.888
IRIDIUM_FIX	2143.45,-15943.76,261098,232336	_10V_AH	10.2,5.177
TT8_MAMPS	0.082069	DATA_FILE_SIZE	15878,496
HUMID	1940	CAP_FILE_SIZE	58762,0
INTERNAL_PRESSURE	7.56865	CFSIZE	260165632,253882368
TCM_TEMP	24.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,021102,2154.258,-15943.357,13,1.9,13,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	181	109.07	SBE_CT	334	24	192.86
Roll_motor	44	111	119.80	nil	0	0	0.00
VBD_pump_during_apogee	621	687	10249.52	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	26	103	65.01	nil	0	0	0.00
Iridium_during_connect	27	160	106.64	GUMSTIX	72	1000	1740.05
Iridium_during_xfer	325	223	1743.97
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	49	1000	1197.02
GPS	13	50	6.83
TT8	866	18	159.07
LPSleep	2756	0	10.97
TT8_Active	639	18	117.45
TT8_Sampling	884	38	342.91
TT8_CF8	560	44	251.69
TT8_Kalman	33	80	27.21
Analog_circuits	1179	12	144.36
GPS_charging	0	0	0.00
Compass	846	8	69.11
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
17	-1.37	-243.3	0.0	0.0	0	118	0.00	0.00	-96.97	0.000	2	0.000	0.000	403	1948	3283
121	-1.37	-243.3	3.4	-7.3	16	149	11.00	2.45	-10.80	0.000	4	0.182	0.068	2239	585	3913
239	-1.37	-243.3	31.3	-19.0	31	244	0.00	2.35	0.00	0.000	6	0.000	0.031	2239	1974	3914
436	-1.37	-243.3	66.7	-16.4	49	441	0.00	2.50	0.00	0.000	4	0.000	0.057	2238	584	3914
492	-1.37	-243.3	76.3	-16.2	53	499	0.00	2.35	0.00	0.000	6	0.000	0.031	2239	1980	3914
817	-1.37	-243.3	125.1	-15.4	84	821	0.00	2.45	0.00	0.000	4	0.000	0.054	2239	3362	3916
860	-1.37	-243.3	132.3	-15.8	87	868	0.00	2.38	0.00	0.000	6	0.000	0.035	2238	1975	3916
1187	-1.37	-243.3	176.8	-13.5	118	1191	0.00	2.55	0.00	0.000	4	0.000	0.063	2238	568	3916
1220	-1.37	-243.3	181.6	-13.4	120	1227	0.00	2.38	0.00	0.000	6	0.000	0.033	2239	1974	3917
1547	-1.37	-243.3	222.2	-13.1	151	1548	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1974	3917
1864	-1.37	-243.3	256.2	-9.9	181	1868	0.00	2.50	0.00	0.000	4	0.000	0.058	2239	3365	3918
1909	-1.37	-243.3	260.8	-10.5	185	1913	0.00	2.40	0.00	0.000	6	0.000	0.038	2238	1973	3917
2014	end dive: TARGET_DEPTH_EXCEEDED
state	2014	begin apogee
2019	-0.38	0.0	270.6	9.1	195	2227	1.05	0.00	197.27	0.687	6	0.090	0.000	2455	1973	2917
2228	end apogee: CONTROL_FINISHED_OK
state	2228	begin climb
2230	1.37	243.3	276.6	0.0	216	2439	1.75	2.62	197.75	0.672	4	0.059	0.059	2836	3387	1924
2478	1.54	380.3	265.2	6.2	237	2602	0.17	2.45	115.53	0.661	6	0.040	0.040	2889	1995	1365
2927	1.54	380.3	223.0	10.1	279	2931	0.00	2.62	0.00	0.000	4	0.000	0.071	2889	590	1357
2970	1.54	380.3	218.2	11.5	282	2977	0.00	2.45	0.00	0.000	6	0.000	0.038	2889	2004	1356
3297	1.54	380.3	182.5	10.4	313	3298	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	2007	1354
3614	1.54	380.3	146.4	11.4	343	3615	0.00	0.00	0.00	0.000	6	0.000	0.000	2889	2007	1352
3933	1.65	475.0	118.2	7.4	373	4018	0.00	2.67	78.70	0.625	4	0.000	0.063	2889	595	980
4042	1.68	500.8	109.4	9.3	383	4072	0.00	2.42	22.25	0.582	6	0.000	0.035	2889	1996	875
4389	1.70	511.9	78.8	9.7	416	4402	0.10	0.00	9.93	0.529	6	0.050	0.000	2930	1997	830
4718	1.70	511.9	40.1	11.0	447	4722	0.00	2.58	0.00	0.000	4	0.000	0.061	2930	590	825
4791	1.70	511.9	32.0	11.6	453	4795	0.00	2.40	0.00	0.000	6	0.000	0.032	2930	2002	825
4992	1.70	511.9	10.2	12.1	478	4998	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2002	825
5067	1.70	511.9	2.0	11.2	491	5073	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2002	825
5077	end climb: SURFACE_DEPTH_REACHED
state	5077	begin surface coast
5095	end surface coast: CONTROL_FINISHED_OK
state	5096	begin surface