Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 38 * 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 38 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 2628 ALTIM_FREQUENCY 12

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2555 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 51 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 220 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 275 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 -58246.082 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 175 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 3095 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 660 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 220

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 -58246.082

CAPMAXSIZE 100000 HD_C 9.9999997e-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 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 3095 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2555 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2628 MASS 51716 R_PORT_OVSHOOT 51 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 175 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 38 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 082101,2154.081,-15941.594,39,1.6,39,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 2 KALMAN_CONTROL 0.224,-0.139

_XMS_TOUTs 0 KALMAN_X -53879.1,-504.8,-8.2,54762.1,-459.5

_SM_DEPTHo 0.86 KALMAN_Y 10296.5,89.3,52.3,-14006.3,297.4

_SM_ANGLEo -68.9 MHEAD_RNG_PITCHd_Wd 112.1,2929,-17.2,-10.000

GPS2 083019,2154.132,-15941.749,9,1.2,15,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.278 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH -0.3,1.022944 MM_CLLLayer 0.03

SM_CCo 12791,46.40,0.515,0,0,1101,450.13 MM_CfgFile 0.30

SM_GC 0.90,0.00,0.00,46.40,0.000,0.000,0.515,124,2634,1101,-13.66,0.17,450.13 _24V_AH 23.6,14.916

IRIDIUM_FIX 2143.45,-15943.76,261098,040402 _10V_AH 9.9,4.691

TT8_MAMPS 0.074399 DATA_FILE_SIZE 37705,1198

HUMID 1843 CAP_FILE_SIZE 427392,0

INTERNAL_PRESSURE 11.3383 CFSIZE 260034560,252784640

TCM_TEMP 23.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 010809,120625,2153.146,-15940.499,40,1.2,40,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 182 145.18 SBE_CT 805 24 456.13

Roll_motor 103 88 216.02 nil 0 0 0.00

VBD_pump_during_apogee 687 925 14997.24 nil 0 0 0.00

VBD_pump_during_surface 46 514 563.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.38 nil 0 0 0.00

Iridium_during_connect 24 160 93.32 GUMSTIX 162 1000 3830.54

Iridium_during_xfer 345 223 1816.97

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 86 1000 2043.00

GPS 15 50 7.88

TT8 2326 18 414.61

LPSleep 7043 0 27.19

TT8_Active 759 18 135.27

TT8_Sampling 2140 38 805.39

TT8_CF8 1111 44 484.13

TT8_Kalman 33 80 26.42

Analog_circuits 1918 12 227.89

GPS_charging 0 0 0.00

Compass 2079 8 164.70

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.62 -150.8 0.0 0.0 0 101 0.00 0.00 -80.72 0.000 2 0.000 0.000 126 2639 3333

104 -1.64 -170.3 3.2 -6.3 12 127 15.77 0.00 -4.75 0.000 6 0.183 0.000 2731 2639 3633

198 -1.64 -170.3 28.9 -17.6 24 199 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2639 3634

388 -1.64 -170.3 62.4 -13.8 42 389 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2639 3635

708 -1.64 -170.3 111.0 -14.8 72 712 0.00 2.40 0.00 0.000 4 0.000 0.034 2731 1238 3637

830 -1.64 -170.3 129.1 -13.4 82 837 0.00 2.42 0.00 0.000 6 0.000 0.037 2731 2632 3638

1155 -1.64 -170.3 171.5 -12.7 113 1156 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2631 3639

1473 -1.64 -170.3 212.3 -12.7 143 1477 0.00 2.40 0.00 0.000 4 0.000 0.036 2731 1239 3639

1512 -1.64 -170.3 217.3 -12.8 146 1516 0.00 2.42 0.00 0.000 6 0.000 0.038 2731 2630 3639

1836 -1.64 -170.3 258.2 -12.3 176 1838 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2630 3639

2155 -1.64 -170.3 291.7 -9.3 206 2159 0.00 2.35 0.00 0.000 4 0.000 0.075 2731 3886 3638

2244 -1.64 -170.3 301.1 -10.6 213 2252 0.00 2.15 0.00 0.000 6 0.000 0.032 2731 2634 3638

2570 -1.64 -170.3 335.0 -9.7 244 2574 0.00 2.42 0.00 0.000 4 0.000 0.042 2731 1238 3636

2665 -1.64 -170.3 344.2 -10.0 252 2669 0.00 2.45 0.00 0.000 6 0.000 0.043 2731 2627 3636

2989 -1.64 -170.3 378.3 -10.1 282 2993 0.00 2.35 0.00 0.000 4 0.000 0.076 2731 3888 3633

3057 -1.64 -170.3 385.5 -10.9 288 3060 0.00 2.15 0.00 0.000 6 0.000 0.036 2731 2636 3633

3387 -1.64 -170.3 416.8 -8.5 319 3388 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2636 3631

3706 -1.64 -170.3 444.8 -8.8 349 3707 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2636 3629

4024 -1.64 -170.3 474.2 -9.8 379 4029 0.00 2.50 0.00 0.000 4 0.000 0.050 2731 1227 3627

4090 -1.64 -170.3 481.2 -10.5 384 4098 0.00 2.50 0.00 0.000 6 0.000 0.048 2731 2626 3626

4416 -1.64 -170.3 514.6 -10.0 415 4420 0.00 2.50 0.00 0.000 4 0.000 0.049 2731 1225 3624

4458 -1.64 -170.3 519.8 -11.7 418 4466 0.00 2.55 0.00 0.000 6 0.000 0.048 2731 2629 3624

4784 -1.64 -170.3 557.4 -11.6 449 4788 0.00 2.42 0.00 0.000 4 0.000 0.088 2731 3889 3621

4939 -1.64 -170.3 575.4 -11.5 462 4947 0.00 2.22 0.00 0.000 6 0.000 0.040 2731 2634 3620

5265 -1.64 -170.3 606.0 -8.8 493 5269 0.00 2.55 0.00 0.000 4 0.000 0.061 2731 1232 3618

5326 -1.64 -170.3 611.9 -10.0 498 5331 0.00 2.55 0.00 0.000 6 0.000 0.056 2731 2633 3617

5651 -1.64 -170.3 641.2 -8.8 528 5655 0.00 2.55 0.00 0.000 4 0.000 0.059 2731 1230 3615

5713 -1.64 -170.3 647.0 -9.4 533 5717 0.00 2.58 0.00 0.000 6 0.000 0.059 2730 2637 3614

5856 end dive: TARGET_DEPTH_EXCEEDED

state 5856 begin apogee

5861 -0.42 0.0 660.1 9.1 546 6090 1.30 0.00 221.25 0.925 6 0.090 0.000 3000 2550 2936

6091 end apogee: CONTROL_FINISHED_OK

state 6091 begin climb

6092 1.64 170.3 669.2 0.0 569 6334 2.05 2.62 228.73 0.885 4 0.055 0.051 3453 1151 2241

6587 1.64 170.3 628.6 10.9 612 6591 0.00 2.58 0.00 0.000 6 0.000 0.048 3453 2568 2236

6912 1.66 181.3 595.2 9.5 642 6935 0.00 2.65 14.07 0.827 4 0.000 0.051 3453 1154 2197

6969 1.66 181.3 589.3 10.1 647 6973 0.00 2.55 0.00 0.000 6 0.000 0.049 3453 2553 2196

7294 1.66 183.8 557.9 9.9 677 7295 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2553 2194

7612 1.66 183.8 522.9 11.4 707 7616 0.00 2.58 0.00 0.000 4 0.000 0.084 3452 3897 2192

7684 1.66 183.8 514.4 12.0 713 7689 0.00 2.38 0.00 0.000 6 0.000 0.042 3453 2550 2192

8009 1.66 183.8 477.4 11.2 743 8010 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2550 2191

8328 1.67 192.7 445.2 9.6 773 8352 0.00 2.60 14.85 0.820 4 0.000 0.053 3453 1151 2150

8435 1.67 192.7 433.6 11.0 782 8443 0.00 2.58 0.00 0.000 6 0.000 0.047 3453 2559 2149

8761 1.67 192.7 398.4 10.3 813 8762 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2559 2148

9079 1.67 192.7 365.7 11.4 843 9083 0.00 2.50 0.00 0.000 4 0.000 0.077 3453 3888 2148

9155 1.67 192.7 356.2 12.2 849 9163 0.00 2.38 0.00 0.000 6 0.000 0.040 3453 2550 2147

9481 1.67 192.7 321.9 10.1 880 9485 0.00 2.50 0.00 0.000 4 0.000 0.050 3453 1149 2147

9591 1.67 192.7 310.4 10.5 889 9599 0.00 2.55 0.00 0.000 6 0.000 0.044 3453 2559 2147

9917 1.68 198.3 277.3 9.7 920 9928 0.00 0.00 7.75 0.683 6 0.000 0.000 3453 2559 2127

10245 1.69 204.5 245.7 9.7 951 10261 0.00 2.55 9.43 0.689 4 0.000 0.072 3453 3884 2102

10336 1.69 204.5 236.2 10.0 959 10340 0.00 2.33 0.00 0.000 6 0.000 0.038 3453 2548 2102

10661 1.75 256.5 207.1 7.7 989 10734 0.00 2.58 66.43 0.715 4 0.000 0.045 3453 1154 1890

10919 1.75 256.5 179.8 10.7 1011 10927 0.00 2.50 0.00 0.000 6 0.000 0.041 3453 2559 1886

11244 1.75 256.5 143.6 11.5 1042 11248 0.00 2.47 0.00 0.000 4 0.000 0.068 3452 3888 1885

11295 1.75 256.5 138.0 11.1 1046 11299 0.00 2.30 0.00 0.000 6 0.000 0.035 3453 2549 1885

11620 1.75 256.5 105.5 10.8 1076 11621 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2549 1885

11938 1.76 264.3 73.9 9.6 1106 11954 0.00 2.47 9.98 0.562 4 0.000 0.039 3453 1162 1858

11989 1.78 279.5 69.0 9.3 1110 12020 0.00 2.45 20.80 0.586 6 0.000 0.036 3453 2559 1796

12339 1.85 340.4 37.0 7.3 1143 12423 0.00 2.50 76.95 0.566 4 0.000 0.036 3453 1152 1548

12659 1.87 355.2 10.1 9.3 1180 12681 0.00 2.45 16.77 0.512 6 0.000 0.035 3453 2555 1487

12719 end climb: SURFACE_DEPTH_REACHED

state 12719 begin surface coast

12766 end surface coast: CONTROL_FINISHED_OK

state 12766 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	38	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	2628	ALTIM_FREQUENCY	12
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2555	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	51	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	220	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	275	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	-58246.082	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	175	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	3095	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	082101,2154.081,-15941.594,39,1.6,39,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	2	KALMAN_CONTROL	0.224,-0.139
_XMS_TOUTs	0	KALMAN_X	-53879.1,-504.8,-8.2,54762.1,-459.5
_SM_DEPTHo	0.86	KALMAN_Y	10296.5,89.3,52.3,-14006.3,297.4
_SM_ANGLEo	-68.9	MHEAD_RNG_PITCHd_Wd	112.1,2929,-17.2,-10.000
GPS2	083019,2154.132,-15941.749,9,1.2,15,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.278	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	-0.3,1.022944	MM_CLLLayer	0.03
SM_CCo	12791,46.40,0.515,0,0,1101,450.13	MM_CfgFile	0.30
SM_GC	0.90,0.00,0.00,46.40,0.000,0.000,0.515,124,2634,1101,-13.66,0.17,450.13	_24V_AH	23.6,14.916
IRIDIUM_FIX	2143.45,-15943.76,261098,040402	_10V_AH	9.9,4.691
TT8_MAMPS	0.074399	DATA_FILE_SIZE	37705,1198
HUMID	1843	CAP_FILE_SIZE	427392,0
INTERNAL_PRESSURE	11.3383	CFSIZE	260034560,252784640
TCM_TEMP	23.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	010809,120625,2153.146,-15940.499,40,1.2,40,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	182	145.18	SBE_CT	805	24	456.13
Roll_motor	103	88	216.02	nil	0	0	0.00
VBD_pump_during_apogee	687	925	14997.24	nil	0	0	0.00
VBD_pump_during_surface	46	514	563.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.38	nil	0	0	0.00
Iridium_during_connect	24	160	93.32	GUMSTIX	162	1000	3830.54
Iridium_during_xfer	345	223	1816.97
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	86	1000	2043.00
GPS	15	50	7.88
TT8	2326	18	414.61
LPSleep	7043	0	27.19
TT8_Active	759	18	135.27
TT8_Sampling	2140	38	805.39
TT8_CF8	1111	44	484.13
TT8_Kalman	33	80	26.42
Analog_circuits	1918	12	227.89
GPS_charging	0	0	0.00
Compass	2079	8	164.70
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.62	-150.8	0.0	0.0	0	101	0.00	0.00	-80.72	0.000	2	0.000	0.000	126	2639	3333
104	-1.64	-170.3	3.2	-6.3	12	127	15.77	0.00	-4.75	0.000	6	0.183	0.000	2731	2639	3633
198	-1.64	-170.3	28.9	-17.6	24	199	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2639	3634
388	-1.64	-170.3	62.4	-13.8	42	389	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2639	3635
708	-1.64	-170.3	111.0	-14.8	72	712	0.00	2.40	0.00	0.000	4	0.000	0.034	2731	1238	3637
830	-1.64	-170.3	129.1	-13.4	82	837	0.00	2.42	0.00	0.000	6	0.000	0.037	2731	2632	3638
1155	-1.64	-170.3	171.5	-12.7	113	1156	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2631	3639
1473	-1.64	-170.3	212.3	-12.7	143	1477	0.00	2.40	0.00	0.000	4	0.000	0.036	2731	1239	3639
1512	-1.64	-170.3	217.3	-12.8	146	1516	0.00	2.42	0.00	0.000	6	0.000	0.038	2731	2630	3639
1836	-1.64	-170.3	258.2	-12.3	176	1838	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2630	3639
2155	-1.64	-170.3	291.7	-9.3	206	2159	0.00	2.35	0.00	0.000	4	0.000	0.075	2731	3886	3638
2244	-1.64	-170.3	301.1	-10.6	213	2252	0.00	2.15	0.00	0.000	6	0.000	0.032	2731	2634	3638
2570	-1.64	-170.3	335.0	-9.7	244	2574	0.00	2.42	0.00	0.000	4	0.000	0.042	2731	1238	3636
2665	-1.64	-170.3	344.2	-10.0	252	2669	0.00	2.45	0.00	0.000	6	0.000	0.043	2731	2627	3636
2989	-1.64	-170.3	378.3	-10.1	282	2993	0.00	2.35	0.00	0.000	4	0.000	0.076	2731	3888	3633
3057	-1.64	-170.3	385.5	-10.9	288	3060	0.00	2.15	0.00	0.000	6	0.000	0.036	2731	2636	3633
3387	-1.64	-170.3	416.8	-8.5	319	3388	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2636	3631
3706	-1.64	-170.3	444.8	-8.8	349	3707	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2636	3629
4024	-1.64	-170.3	474.2	-9.8	379	4029	0.00	2.50	0.00	0.000	4	0.000	0.050	2731	1227	3627
4090	-1.64	-170.3	481.2	-10.5	384	4098	0.00	2.50	0.00	0.000	6	0.000	0.048	2731	2626	3626
4416	-1.64	-170.3	514.6	-10.0	415	4420	0.00	2.50	0.00	0.000	4	0.000	0.049	2731	1225	3624
4458	-1.64	-170.3	519.8	-11.7	418	4466	0.00	2.55	0.00	0.000	6	0.000	0.048	2731	2629	3624
4784	-1.64	-170.3	557.4	-11.6	449	4788	0.00	2.42	0.00	0.000	4	0.000	0.088	2731	3889	3621
4939	-1.64	-170.3	575.4	-11.5	462	4947	0.00	2.22	0.00	0.000	6	0.000	0.040	2731	2634	3620
5265	-1.64	-170.3	606.0	-8.8	493	5269	0.00	2.55	0.00	0.000	4	0.000	0.061	2731	1232	3618
5326	-1.64	-170.3	611.9	-10.0	498	5331	0.00	2.55	0.00	0.000	6	0.000	0.056	2731	2633	3617
5651	-1.64	-170.3	641.2	-8.8	528	5655	0.00	2.55	0.00	0.000	4	0.000	0.059	2731	1230	3615
5713	-1.64	-170.3	647.0	-9.4	533	5717	0.00	2.58	0.00	0.000	6	0.000	0.059	2730	2637	3614
5856	end dive: TARGET_DEPTH_EXCEEDED
state	5856	begin apogee
5861	-0.42	0.0	660.1	9.1	546	6090	1.30	0.00	221.25	0.925	6	0.090	0.000	3000	2550	2936
6091	end apogee: CONTROL_FINISHED_OK
state	6091	begin climb
6092	1.64	170.3	669.2	0.0	569	6334	2.05	2.62	228.73	0.885	4	0.055	0.051	3453	1151	2241
6587	1.64	170.3	628.6	10.9	612	6591	0.00	2.58	0.00	0.000	6	0.000	0.048	3453	2568	2236
6912	1.66	181.3	595.2	9.5	642	6935	0.00	2.65	14.07	0.827	4	0.000	0.051	3453	1154	2197
6969	1.66	181.3	589.3	10.1	647	6973	0.00	2.55	0.00	0.000	6	0.000	0.049	3453	2553	2196
7294	1.66	183.8	557.9	9.9	677	7295	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2553	2194
7612	1.66	183.8	522.9	11.4	707	7616	0.00	2.58	0.00	0.000	4	0.000	0.084	3452	3897	2192
7684	1.66	183.8	514.4	12.0	713	7689	0.00	2.38	0.00	0.000	6	0.000	0.042	3453	2550	2192
8009	1.66	183.8	477.4	11.2	743	8010	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2550	2191
8328	1.67	192.7	445.2	9.6	773	8352	0.00	2.60	14.85	0.820	4	0.000	0.053	3453	1151	2150
8435	1.67	192.7	433.6	11.0	782	8443	0.00	2.58	0.00	0.000	6	0.000	0.047	3453	2559	2149
8761	1.67	192.7	398.4	10.3	813	8762	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2559	2148
9079	1.67	192.7	365.7	11.4	843	9083	0.00	2.50	0.00	0.000	4	0.000	0.077	3453	3888	2148
9155	1.67	192.7	356.2	12.2	849	9163	0.00	2.38	0.00	0.000	6	0.000	0.040	3453	2550	2147
9481	1.67	192.7	321.9	10.1	880	9485	0.00	2.50	0.00	0.000	4	0.000	0.050	3453	1149	2147
9591	1.67	192.7	310.4	10.5	889	9599	0.00	2.55	0.00	0.000	6	0.000	0.044	3453	2559	2147
9917	1.68	198.3	277.3	9.7	920	9928	0.00	0.00	7.75	0.683	6	0.000	0.000	3453	2559	2127
10245	1.69	204.5	245.7	9.7	951	10261	0.00	2.55	9.43	0.689	4	0.000	0.072	3453	3884	2102
10336	1.69	204.5	236.2	10.0	959	10340	0.00	2.33	0.00	0.000	6	0.000	0.038	3453	2548	2102
10661	1.75	256.5	207.1	7.7	989	10734	0.00	2.58	66.43	0.715	4	0.000	0.045	3453	1154	1890
10919	1.75	256.5	179.8	10.7	1011	10927	0.00	2.50	0.00	0.000	6	0.000	0.041	3453	2559	1886
11244	1.75	256.5	143.6	11.5	1042	11248	0.00	2.47	0.00	0.000	4	0.000	0.068	3452	3888	1885
11295	1.75	256.5	138.0	11.1	1046	11299	0.00	2.30	0.00	0.000	6	0.000	0.035	3453	2549	1885
11620	1.75	256.5	105.5	10.8	1076	11621	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2549	1885
11938	1.76	264.3	73.9	9.6	1106	11954	0.00	2.47	9.98	0.562	4	0.000	0.039	3453	1162	1858
11989	1.78	279.5	69.0	9.3	1110	12020	0.00	2.45	20.80	0.586	6	0.000	0.036	3453	2559	1796
12339	1.85	340.4	37.0	7.3	1143	12423	0.00	2.50	76.95	0.566	4	0.000	0.036	3453	1152	1548
12659	1.87	355.2	10.1	9.3	1180	12681	0.00	2.45	16.77	0.512	6	0.000	0.035	3453	2555	1487
12719	end climb: SURFACE_DEPTH_REACHED
state	12719	begin surface coast
12766	end surface coast: CONTROL_FINISHED_OK
state	12766	begin surface