Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 38 * 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 38 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 660 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 746 DEVICE2 -1

T_MISSION 275 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 -107120.25 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 200 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 660 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 220

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 -107120.25

CAPMAXSIZE 100000 HD_C 9.8541004e-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 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 31 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 200 R_STBD_OVSHOOT 38 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 38 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 090837,2153.642,-15940.968,41,1.7,41,9.8 TGT_LATLONG 2155.000,-15943.400

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 3 KALMAN_CONTROL -0.235,0.180

_XMS_TOUTs 1 KALMAN_X -45699.9,99.8,-197.5,51166.0,-496.7

_SM_DEPTHo 1.19 KALMAN_Y 10897.1,315.1,-30.8,-14958.5,-42.4

_SM_ANGLEo -53.4 MHEAD_RNG_PITCHd_Wd 297.6,4538,-15.7,-10.000

GPS2 092241,2153.669,-15941.184,10,1.9,14,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.296 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TA

Post-dive calculations and measurements:

FINISH 0.5,0.998786 MM_CLLLayer 0.03

SM_CCo 12525,0.00,0.000,0,0,930,487.41 MM_CfgFile 0.30

SM_GC 1.41,11.02,0.00,0.00,0.028,0.000,0.000,406,1961,930,-9.78,-0.28,487.41 _24V_AH 23.2,12.659

IRIDIUM_FIX 2145.77,-15940.77,271098,050545 _10V_AH 10.1,5.516

TT8_MAMPS 0.17641 DATA_FILE_SIZE 37752,1177

HUMID 1934 CAP_FILE_SIZE 123678,0

INTERNAL_PRESSURE 7.48076 CFSIZE 260165632,253411328

TCM_TEMP 24.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 020809,125339,2154.806,-15943.094,40,1.6,48,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 181 106.67 SBE_CT 830 24 462.19

Roll_motor 101 114 268.25 nil 0 0 0.00

VBD_pump_during_apogee 620 1075 15471.35 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 24 103 59.40 nil 0 0 0.00

Iridium_during_connect 43 160 161.46 GUMSTIX 161 1000 3756.61

Iridium_during_xfer 576 223 2983.09

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 86 1000 2003.55

GPS 14 50 7.57

TT8 2152 18 391.37

LPSleep 7520 0 29.62

TT8_Active 711 18 129.34

TT8_Sampling 1982 38 760.91

TT8_CF8 999 44 443.98

TT8_Kalman 33 80 26.96

Analog_circuits 1758 12 213.16

GPS_charging 0 0 0.00

Compass 1919 8 155.08

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

18 -1.45 -194.6 0.0 0.0 0 118 0.00 0.00 -96.38 0.000 2 0.000 0.000 406 1961 3302

121 -1.45 -194.6 3.7 -6.9 16 148 10.90 2.55 -7.20 0.000 4 0.181 0.068 2220 577 3715

400 -1.45 -194.6 61.9 -15.5 45 407 0.00 2.38 0.00 0.000 6 0.000 0.029 2220 1984 3716

725 -1.45 -194.6 106.7 -12.3 76 726 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1984 3717

1044 -1.45 -194.6 151.4 -14.0 106 1048 0.00 2.55 0.00 0.000 4 0.000 0.059 2220 576 3719

1098 -1.45 -194.6 158.9 -13.1 110 1105 0.00 2.35 0.00 0.000 6 0.000 0.031 2220 1967 3719

1425 -1.45 -194.6 203.1 -12.3 141 1426 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1967 3719

1742 -1.45 -194.6 241.5 -12.5 171 1746 0.00 2.50 0.00 0.000 4 0.000 0.057 2220 3361 3720

1804 -1.45 -194.6 248.9 -11.6 176 1808 0.00 2.40 0.00 0.000 6 0.000 0.037 2220 1968 3719

2130 -1.45 -194.6 283.6 -11.8 206 2134 0.00 2.58 0.00 0.000 4 0.000 0.067 2220 569 3719

2203 -1.45 -194.6 292.6 -12.9 212 2207 0.00 2.40 0.00 0.000 6 0.000 0.036 2220 1967 3719

2530 -1.45 -194.6 330.1 -11.3 242 2535 0.00 2.55 0.00 0.000 4 0.000 0.061 2220 3372 3717

2585 -1.45 -194.6 337.3 -12.4 246 2593 0.00 2.45 0.00 0.000 6 0.000 0.041 2220 1967 3717

2912 -1.45 -194.6 374.7 -11.4 277 2916 0.00 2.60 0.00 0.000 4 0.000 0.072 2220 565 3716

2985 -1.45 -194.6 383.4 -11.7 283 2989 0.00 2.42 0.00 0.000 6 0.000 0.039 2220 1971 3715

3318 -1.45 -194.6 423.3 -11.8 314 3322 0.00 2.55 0.00 0.000 4 0.000 0.066 2220 3365 3711

3361 -1.45 -194.6 429.4 -12.7 317 3368 0.00 2.45 0.00 0.000 6 0.000 0.044 2219 1973 3711

3688 -1.45 -194.6 465.7 -10.8 348 3689 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1971 3708

4005 -1.45 -194.6 496.3 -9.6 378 4009 0.00 2.58 0.00 0.000 4 0.000 0.067 2220 3369 3706

4090 -1.45 -194.6 505.2 -10.7 385 4094 0.00 2.47 0.00 0.000 6 0.000 0.046 2219 1966 3705

4417 -1.45 -194.6 540.3 -10.4 415 4423 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 1965 3702

4743 -1.45 -194.6 571.9 -9.5 446 4747 0.00 2.65 0.00 0.000 4 0.000 0.078 2220 561 3699

4798 -1.45 -194.6 577.2 -9.1 450 4805 0.00 2.47 0.00 0.000 6 0.000 0.044 2220 1966 3698

5124 -1.45 -194.6 608.6 -9.6 481 5129 0.00 2.60 0.00 0.000 4 0.000 0.071 2220 3368 3696

5187 -1.45 -194.6 615.0 -9.4 486 5191 0.00 2.50 0.00 0.000 6 0.000 0.048 2220 1959 3695

5515 -1.45 -194.6 649.9 -11.2 516 5520 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1959 3693

5603 end dive: TARGET_DEPTH_EXCEEDED

state 5604 begin apogee

5609 -0.38 0.0 660.3 11.0 525 5788 1.17 0.00 173.45 1.075 6 0.104 0.000 2452 1959 2917

5789 end apogee: CONTROL_FINISHED_OK

state 5789 begin climb

5791 1.45 194.6 668.7 0.0 543 5983 1.90 2.65 179.88 1.029 4 0.068 0.075 2858 591 2122

6008 1.49 228.3 658.9 8.8 564 6046 0.00 2.53 32.40 0.976 6 0.000 0.044 2859 1997 1986

6372 1.55 280.6 629.2 8.2 598 6429 0.00 2.70 48.85 1.002 4 0.000 0.074 2859 3397 1772

6464 1.57 296.3 621.3 9.5 606 6488 0.12 2.55 16.23 0.937 6 0.057 0.048 2892 1991 1709

6805 1.57 296.3 584.6 11.5 638 6806 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1991 1701

7123 1.57 296.3 548.9 11.1 668 7128 0.00 2.65 0.00 0.000 4 0.000 0.071 2892 3397 1698

7156 1.57 296.3 544.9 12.0 670 7163 0.00 2.55 0.00 0.000 6 0.000 0.048 2893 1985 1698

7483 1.57 296.3 508.6 11.0 701 7484 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1985 1697

7799 1.57 296.3 476.4 10.2 731 7800 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1985 1696

8118 1.57 296.3 440.3 11.9 761 8122 0.00 2.65 0.00 0.000 4 0.000 0.070 2892 3393 1694

8191 1.57 296.3 431.6 11.7 767 8195 0.00 2.50 0.00 0.000 6 0.000 0.048 2892 1994 1694

8519 1.60 321.5 395.2 9.1 797 8546 0.00 0.00 21.83 0.919 6 0.000 0.000 2892 1994 1606

8865 1.60 321.5 362.6 10.1 830 8867 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1994 1601

9183 1.62 332.4 333.1 9.6 860 9196 0.00 0.00 10.62 0.828 6 0.000 0.000 2892 1994 1561

9513 1.62 332.4 294.7 12.5 891 9514 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1994 1557

9830 1.62 332.4 260.4 11.0 921 9831 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1993 1557

10148 1.62 332.4 225.4 10.2 951 10153 0.00 2.58 0.00 0.000 4 0.000 0.063 2892 3390 1557

10200 1.63 342.0 220.5 9.7 955 10215 0.00 2.47 9.45 0.733 6 0.000 0.042 2892 1990 1522

10542 1.70 399.5 192.1 8.0 987 10600 0.00 2.67 51.92 0.762 4 0.000 0.059 2892 3393 1288

10623 1.70 399.5 183.8 10.1 994 10630 0.00 2.50 0.00 0.000 6 0.000 0.040 2892 1990 1286

10949 1.70 399.5 148.9 10.6 1025 10954 0.00 2.60 0.00 0.000 4 0.000 0.067 2892 588 1281

10971 1.70 399.5 145.9 12.8 1026 10978 0.00 2.47 0.00 0.000 6 0.000 0.035 2892 2010 1280

11298 1.70 403.9 109.4 9.8 1057 11306 0.00 0.00 4.07 0.462 6 0.000 0.000 2892 2010 1270

11626 1.70 403.9 76.0 10.1 1088 11630 0.00 2.62 0.00 0.000 4 0.000 0.061 2892 584 1270

11681 1.71 408.8 70.4 9.8 1092 11692 0.00 2.42 6.10 0.522 6 0.000 0.034 2892 1995 1249

12018 1.80 485.4 45.2 7.4 1124 12090 0.17 2.60 65.35 0.618 4 0.044 0.058 2956 3396 937

12108 1.80 485.4 36.6 11.1 1132 12113 0.10 2.47 0.00 0.000 6 0.086 0.035 2936 1981 936

12309 1.80 485.4 14.5 10.6 1154 12315 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 1981 933

12383 1.80 485.4 6.3 10.8 1167 12390 0.00 2.53 0.00 0.000 4 0.000 0.060 2936 595 932

12413 1.80 485.4 2.9 11.9 1172 12420 0.00 2.40 0.00 0.000 6 0.000 0.030 2936 2005 932

12424 end climb: SURFACE_DEPTH_REACHED

state 12425 begin surface coast

12443 end surface coast: CONTROL_FINISHED_OK

state 12443 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	38	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	660	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	746	DEVICE2	-1
T_MISSION	275	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	-107120.25	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	200	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	090837,2153.642,-15940.968,41,1.7,41,9.8	TGT_LATLONG	2155.000,-15943.400
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	3	KALMAN_CONTROL	-0.235,0.180
_XMS_TOUTs	1	KALMAN_X	-45699.9,99.8,-197.5,51166.0,-496.7
_SM_DEPTHo	1.19	KALMAN_Y	10897.1,315.1,-30.8,-14958.5,-42.4
_SM_ANGLEo	-53.4	MHEAD_RNG_PITCHd_Wd	297.6,4538,-15.7,-10.000
GPS2	092241,2153.669,-15941.184,10,1.9,14,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.296	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TA

FINISH	0.5,0.998786	MM_CLLLayer	0.03
SM_CCo	12525,0.00,0.000,0,0,930,487.41	MM_CfgFile	0.30
SM_GC	1.41,11.02,0.00,0.00,0.028,0.000,0.000,406,1961,930,-9.78,-0.28,487.41	_24V_AH	23.2,12.659
IRIDIUM_FIX	2145.77,-15940.77,271098,050545	_10V_AH	10.1,5.516
TT8_MAMPS	0.17641	DATA_FILE_SIZE	37752,1177
HUMID	1934	CAP_FILE_SIZE	123678,0
INTERNAL_PRESSURE	7.48076	CFSIZE	260165632,253411328
TCM_TEMP	24.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,125339,2154.806,-15943.094,40,1.6,48,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	181	106.67	SBE_CT	830	24	462.19
Roll_motor	101	114	268.25	nil	0	0	0.00
VBD_pump_during_apogee	620	1075	15471.35	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	24	103	59.40	nil	0	0	0.00
Iridium_during_connect	43	160	161.46	GUMSTIX	161	1000	3756.61
Iridium_during_xfer	576	223	2983.09
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	86	1000	2003.55
GPS	14	50	7.57
TT8	2152	18	391.37
LPSleep	7520	0	29.62
TT8_Active	711	18	129.34
TT8_Sampling	1982	38	760.91
TT8_CF8	999	44	443.98
TT8_Kalman	33	80	26.96
Analog_circuits	1758	12	213.16
GPS_charging	0	0	0.00
Compass	1919	8	155.08
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
18	-1.45	-194.6	0.0	0.0	0	118	0.00	0.00	-96.38	0.000	2	0.000	0.000	406	1961	3302
121	-1.45	-194.6	3.7	-6.9	16	148	10.90	2.55	-7.20	0.000	4	0.181	0.068	2220	577	3715
400	-1.45	-194.6	61.9	-15.5	45	407	0.00	2.38	0.00	0.000	6	0.000	0.029	2220	1984	3716
725	-1.45	-194.6	106.7	-12.3	76	726	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1984	3717
1044	-1.45	-194.6	151.4	-14.0	106	1048	0.00	2.55	0.00	0.000	4	0.000	0.059	2220	576	3719
1098	-1.45	-194.6	158.9	-13.1	110	1105	0.00	2.35	0.00	0.000	6	0.000	0.031	2220	1967	3719
1425	-1.45	-194.6	203.1	-12.3	141	1426	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1967	3719
1742	-1.45	-194.6	241.5	-12.5	171	1746	0.00	2.50	0.00	0.000	4	0.000	0.057	2220	3361	3720
1804	-1.45	-194.6	248.9	-11.6	176	1808	0.00	2.40	0.00	0.000	6	0.000	0.037	2220	1968	3719
2130	-1.45	-194.6	283.6	-11.8	206	2134	0.00	2.58	0.00	0.000	4	0.000	0.067	2220	569	3719
2203	-1.45	-194.6	292.6	-12.9	212	2207	0.00	2.40	0.00	0.000	6	0.000	0.036	2220	1967	3719
2530	-1.45	-194.6	330.1	-11.3	242	2535	0.00	2.55	0.00	0.000	4	0.000	0.061	2220	3372	3717
2585	-1.45	-194.6	337.3	-12.4	246	2593	0.00	2.45	0.00	0.000	6	0.000	0.041	2220	1967	3717
2912	-1.45	-194.6	374.7	-11.4	277	2916	0.00	2.60	0.00	0.000	4	0.000	0.072	2220	565	3716
2985	-1.45	-194.6	383.4	-11.7	283	2989	0.00	2.42	0.00	0.000	6	0.000	0.039	2220	1971	3715
3318	-1.45	-194.6	423.3	-11.8	314	3322	0.00	2.55	0.00	0.000	4	0.000	0.066	2220	3365	3711
3361	-1.45	-194.6	429.4	-12.7	317	3368	0.00	2.45	0.00	0.000	6	0.000	0.044	2219	1973	3711
3688	-1.45	-194.6	465.7	-10.8	348	3689	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1971	3708
4005	-1.45	-194.6	496.3	-9.6	378	4009	0.00	2.58	0.00	0.000	4	0.000	0.067	2220	3369	3706
4090	-1.45	-194.6	505.2	-10.7	385	4094	0.00	2.47	0.00	0.000	6	0.000	0.046	2219	1966	3705
4417	-1.45	-194.6	540.3	-10.4	415	4423	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	1965	3702
4743	-1.45	-194.6	571.9	-9.5	446	4747	0.00	2.65	0.00	0.000	4	0.000	0.078	2220	561	3699
4798	-1.45	-194.6	577.2	-9.1	450	4805	0.00	2.47	0.00	0.000	6	0.000	0.044	2220	1966	3698
5124	-1.45	-194.6	608.6	-9.6	481	5129	0.00	2.60	0.00	0.000	4	0.000	0.071	2220	3368	3696
5187	-1.45	-194.6	615.0	-9.4	486	5191	0.00	2.50	0.00	0.000	6	0.000	0.048	2220	1959	3695
5515	-1.45	-194.6	649.9	-11.2	516	5520	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1959	3693
5603	end dive: TARGET_DEPTH_EXCEEDED
state	5604	begin apogee
5609	-0.38	0.0	660.3	11.0	525	5788	1.17	0.00	173.45	1.075	6	0.104	0.000	2452	1959	2917
5789	end apogee: CONTROL_FINISHED_OK
state	5789	begin climb
5791	1.45	194.6	668.7	0.0	543	5983	1.90	2.65	179.88	1.029	4	0.068	0.075	2858	591	2122
6008	1.49	228.3	658.9	8.8	564	6046	0.00	2.53	32.40	0.976	6	0.000	0.044	2859	1997	1986
6372	1.55	280.6	629.2	8.2	598	6429	0.00	2.70	48.85	1.002	4	0.000	0.074	2859	3397	1772
6464	1.57	296.3	621.3	9.5	606	6488	0.12	2.55	16.23	0.937	6	0.057	0.048	2892	1991	1709
6805	1.57	296.3	584.6	11.5	638	6806	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1991	1701
7123	1.57	296.3	548.9	11.1	668	7128	0.00	2.65	0.00	0.000	4	0.000	0.071	2892	3397	1698
7156	1.57	296.3	544.9	12.0	670	7163	0.00	2.55	0.00	0.000	6	0.000	0.048	2893	1985	1698
7483	1.57	296.3	508.6	11.0	701	7484	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1985	1697
7799	1.57	296.3	476.4	10.2	731	7800	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1985	1696
8118	1.57	296.3	440.3	11.9	761	8122	0.00	2.65	0.00	0.000	4	0.000	0.070	2892	3393	1694
8191	1.57	296.3	431.6	11.7	767	8195	0.00	2.50	0.00	0.000	6	0.000	0.048	2892	1994	1694
8519	1.60	321.5	395.2	9.1	797	8546	0.00	0.00	21.83	0.919	6	0.000	0.000	2892	1994	1606
8865	1.60	321.5	362.6	10.1	830	8867	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1994	1601
9183	1.62	332.4	333.1	9.6	860	9196	0.00	0.00	10.62	0.828	6	0.000	0.000	2892	1994	1561
9513	1.62	332.4	294.7	12.5	891	9514	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1994	1557
9830	1.62	332.4	260.4	11.0	921	9831	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1993	1557
10148	1.62	332.4	225.4	10.2	951	10153	0.00	2.58	0.00	0.000	4	0.000	0.063	2892	3390	1557
10200	1.63	342.0	220.5	9.7	955	10215	0.00	2.47	9.45	0.733	6	0.000	0.042	2892	1990	1522
10542	1.70	399.5	192.1	8.0	987	10600	0.00	2.67	51.92	0.762	4	0.000	0.059	2892	3393	1288
10623	1.70	399.5	183.8	10.1	994	10630	0.00	2.50	0.00	0.000	6	0.000	0.040	2892	1990	1286
10949	1.70	399.5	148.9	10.6	1025	10954	0.00	2.60	0.00	0.000	4	0.000	0.067	2892	588	1281
10971	1.70	399.5	145.9	12.8	1026	10978	0.00	2.47	0.00	0.000	6	0.000	0.035	2892	2010	1280
11298	1.70	403.9	109.4	9.8	1057	11306	0.00	0.00	4.07	0.462	6	0.000	0.000	2892	2010	1270
11626	1.70	403.9	76.0	10.1	1088	11630	0.00	2.62	0.00	0.000	4	0.000	0.061	2892	584	1270
11681	1.71	408.8	70.4	9.8	1092	11692	0.00	2.42	6.10	0.522	6	0.000	0.034	2892	1995	1249
12018	1.80	485.4	45.2	7.4	1124	12090	0.17	2.60	65.35	0.618	4	0.044	0.058	2956	3396	937
12108	1.80	485.4	36.6	11.1	1132	12113	0.10	2.47	0.00	0.000	6	0.086	0.035	2936	1981	936
12309	1.80	485.4	14.5	10.6	1154	12315	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	1981	933
12383	1.80	485.4	6.3	10.8	1167	12390	0.00	2.53	0.00	0.000	4	0.000	0.060	2936	595	932
12413	1.80	485.4	2.9	11.9	1172	12420	0.00	2.40	0.00	0.000	6	0.000	0.030	2936	2005	932
12424	end climb: SURFACE_DEPTH_REACHED
state	12425	begin surface coast
12443	end surface coast: CONTROL_FINISHED_OK
state	12443	begin surface