Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 39 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 21 ESCAPE_HEADING 180 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 39 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2560 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2720 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 450 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 17 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 INT_PRESSURE_YINT 1.4

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 582 DEVICE2 -1

T_MISSION 275 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 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 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -86605.578 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 428 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2946 PRESSURE_YINT -8.3219604 SEABIRD_T_G 0.0043077655

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063814409

MASS 51726 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4031482e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4698193e-06

FERRY_MAX 45 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826059

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1260695

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0021108589

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021799213

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3730 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 428 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 660 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.3219604 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 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -86605.578

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 118 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2946 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2720 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2560 MASS 51726 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 175 R_STBD_OVSHOOT 37 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 21 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4698193e-06 XPDR_DEVICE -1

DIVE 39 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 060307,2152.530,-15940.899,40,0.8,40,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 6 KALMAN_CONTROL 0.044,-0.275

_XMS_TOUTs 0 KALMAN_X -58402.0,-470.6,-156.1,60485.2,-1020.2

_SM_DEPTHo 0.42 KALMAN_Y 27229.6,394.9,-85.9,-34011.1,1340.3

_SM_ANGLEo -59.5 MHEAD_RNG_PITCHd_Wd 161.2,4106,-16.8,-10.000

GPS2 061401,2152.597,-15941.105,16,1.8,21,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH -0.2,1.022930 MM_CLLLayer 0.03

SM_CCo 11729,52.83,0.444,0,0,1102,450.13 MM_CfgFile 0.30

SM_GC 0.37,0.00,0.00,52.83,0.000,0.000,0.444,417,2568,1102,-11.63,0.23,450.13 _24V_AH 23.8,22.245

IRIDIUM_FIX 2143.45,-15938.60,261098,030308 _10V_AH 10.0,25.711

TT8_MAMPS 0.065195 DATA_FILE_SIZE 34650,1077

HUMID 1801 CAP_FILE_SIZE 381098,0

INTERNAL_PRESSURE 9.96478 CFSIZE -70647808,-89456640

TCM_TEMP 23.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

MM_GliderControlLayer 0.41 GPS 010809,093236,2150.749,-15941.068,32,1.7,33,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 126 83.28 SBE_CT 748 24 427.59

Roll_motor 85 73 150.18 nil 0 0 0.00

VBD_pump_during_apogee 413 954 9387.38 nil 0 0 0.00

VBD_pump_during_surface 52 444 558.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 74.10 nil 0 0 0.00

Iridium_during_connect 59 160 226.99 GUMSTIX 152 1000 3618.43

Iridium_during_xfer 302 223 1605.29

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 80 1000 1910.19

GPS 21 50 10.96

TT8 2106 18 379.23

LPSleep 5973 0 23.30

TT8_Active 575 18 103.53

TT8_Sampling 1870 38 710.60

TT8_CF8 1900 44 836.34

TT8_Kalman 33 80 26.68

Analog_circuits 1584 12 190.18

GPS_charging 0 0 0.00

Compass 1816 8 145.30

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

24 -1.89 -170.3 0.0 0.0 0 104 0.00 0.00 -76.53 0.000 2 0.000 0.000 421 2508 3238

110 -1.89 -170.3 3.3 -8.2 11 133 10.95 2.30 -6.03 0.000 4 0.127 0.053 2528 1149 3635

195 -1.89 -170.3 29.2 -21.9 20 202 0.00 2.30 0.00 0.000 6 0.000 0.021 2528 2574 3636

396 -1.89 -170.3 67.7 -19.2 39 400 0.00 2.40 0.00 0.000 4 0.000 0.039 2528 1153 3636

468 -1.89 -170.3 78.7 -16.8 44 472 0.00 2.28 0.00 0.000 6 0.000 0.021 2528 2563 3636

796 -1.89 -170.3 132.7 -14.8 74 802 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2563 3638

1124 -1.89 -170.3 180.0 -13.9 105 1128 0.00 2.40 0.00 0.000 4 0.000 0.041 2528 1150 3638

1202 -1.89 -170.3 191.3 -14.0 111 1207 0.00 2.28 0.00 0.000 6 0.000 0.023 2528 2557 3638

1531 -1.89 -170.3 234.5 -13.7 141 1535 0.00 2.40 0.00 0.000 4 0.000 0.044 2528 1152 3638

1635 -1.89 -170.3 248.8 -13.2 149 1642 0.00 2.30 0.00 0.000 6 0.000 0.025 2528 2563 3638

1963 -1.89 -170.3 289.3 -12.3 180 1967 0.00 2.42 0.00 0.000 4 0.000 0.046 2529 1152 3637

2068 -1.89 -170.3 303.8 -14.5 188 2075 0.00 2.33 0.00 0.000 6 0.000 0.027 2528 2567 3637

2396 -1.89 -170.3 347.9 -13.3 219 2400 0.00 2.55 0.00 0.000 4 0.000 0.054 2528 3927 3635

2456 -1.89 -170.3 355.2 -13.1 223 2461 0.00 2.45 0.00 0.000 6 0.000 0.028 2528 2550 3634

2784 -1.89 -170.3 396.0 -11.5 253 2791 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2550 3632

3113 -1.89 -170.3 434.1 -11.3 284 3119 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2550 3628

3441 -1.89 -170.3 474.3 -11.5 315 3448 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2550 3626

3770 -1.89 -170.3 512.2 -11.7 346 3776 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2551 3624

4098 -1.89 -170.3 550.9 -11.3 377 4105 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2550 3620

4427 -1.89 -170.3 587.6 -11.9 408 4431 0.00 2.65 0.00 0.000 4 0.000 0.065 2528 3919 3618

4554 -1.89 -170.3 602.7 -12.6 418 4558 0.00 2.47 0.00 0.000 6 0.000 0.035 2528 2572 3617

4882 -1.89 -170.3 642.3 -11.0 448 4887 0.00 2.53 0.00 0.000 4 0.000 0.065 2528 1151 3615

4942 -1.89 -170.3 648.3 -10.7 452 4946 0.00 2.38 0.00 0.000 6 0.000 0.041 2528 2548 3614

5047 end dive: TARGET_DEPTH_EXCEEDED

state 5047 begin apogee

5060 -0.50 0.0 660.2 10.1 462 5205 1.40 0.00 132.15 0.955 6 0.072 0.000 2829 2725 2937

5206 end apogee: CONTROL_FINISHED_OK

state 5206 begin climb

5211 1.89 170.3 665.1 0.0 476 5363 2.35 2.45 135.98 0.930 4 0.043 0.074 3368 3926 2241

5390 1.89 170.3 655.8 10.1 492 5394 0.00 2.30 0.00 0.000 6 0.000 0.037 3368 2714 2240

5718 1.89 170.3 617.4 11.8 522 5725 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 2714 2237

6047 1.92 190.4 582.9 9.2 553 6072 0.00 2.47 16.77 0.845 4 0.000 0.064 3368 3934 2160

6244 1.92 193.3 564.3 9.9 569 6256 0.00 2.30 3.85 0.541 6 0.000 0.034 3368 2706 2148

6577 1.95 217.8 533.5 9.0 600 6604 0.00 0.00 20.95 0.847 6 0.000 0.000 3368 2706 2048

6932 1.95 217.8 498.5 11.1 633 6936 0.00 2.45 0.00 0.000 4 0.000 0.062 3368 3936 2046

7072 1.95 217.8 481.5 11.9 644 7080 0.00 2.28 0.00 0.000 6 0.000 0.033 3368 2715 2045

7401 1.97 236.4 448.2 9.3 675 7419 0.00 0.00 15.73 0.790 6 0.000 0.000 3368 2715 1973

7739 1.97 236.4 414.6 10.8 707 7746 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 2715 1970

8068 1.97 236.4 376.8 11.2 738 8072 0.00 2.40 0.00 0.000 4 0.000 0.060 3368 3938 1969

8295 1.97 236.4 350.4 11.7 757 8300 0.00 2.28 0.00 0.000 6 0.000 0.031 3368 2705 1969

8624 1.97 236.4 316.8 11.0 787 8630 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 2705 1968

8952 1.98 238.8 282.4 9.9 818 8959 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 2705 1968

9281 2.00 255.4 250.6 9.3 849 9305 0.00 2.45 16.02 0.670 4 0.000 0.056 3368 3933 1895

9460 2.00 255.4 231.2 11.6 864 9464 0.00 2.25 0.00 0.000 6 0.000 0.028 3368 2705 1893

9793 2.00 255.4 198.4 11.4 895 9798 0.00 2.35 0.00 0.000 4 0.000 0.048 3368 1326 1893

9864 2.00 255.4 190.2 11.0 900 9871 0.00 2.33 0.00 0.000 6 0.000 0.029 3368 2731 1892

10192 2.00 255.4 154.2 10.8 931 10196 0.00 2.30 0.00 0.000 4 0.000 0.054 3368 3927 1892

10282 2.00 255.4 143.7 12.0 938 10286 0.00 2.20 0.00 0.000 6 0.000 0.025 3368 2712 1892

10610 2.03 284.2 108.8 8.9 968 10640 0.00 2.38 24.52 0.560 4 0.000 0.049 3368 3933 1778

10716 2.03 284.2 98.3 10.3 976 10724 0.00 2.20 0.00 0.000 6 0.000 0.025 3368 2717 1775

11045 2.06 302.0 65.8 9.3 1007 11070 0.10 2.38 15.48 0.497 4 0.051 0.041 3405 1345 1704

11111 2.06 302.0 58.2 12.5 1012 11115 0.00 2.25 0.00 0.000 6 0.000 0.026 3405 2722 1702

11445 2.10 339.7 25.8 8.5 1043 11482 0.00 2.45 31.60 0.476 4 0.000 0.041 3405 1336 1551

11554 2.10 341.5 15.8 9.9 1055 11561 0.00 2.28 0.00 0.000 6 0.000 0.025 3405 2728 1548

11641 2.10 342.0 6.3 10.0 1068 11647 0.00 0.00 0.00 0.000 6 0.000 0.000 3405 2728 1547

11652 end climb: SURFACE_DEPTH_REACHED

state 11652 begin surface coast

11695 end surface coast: CONTROL_FINISHED_OK

state 11695 begin surface

ID	118	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	21	ESCAPE_HEADING	180	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	39	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2560	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2720	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	450	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	17	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	INT_PRESSURE_YINT	1.4
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	582	DEVICE2	-1
T_MISSION	275	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	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	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-86605.578	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	428	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2946	PRESSURE_YINT	-8.3219604	SEABIRD_T_G	0.0043077655
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063814409
MASS	51726	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4031482e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4698193e-06
FERRY_MAX	45	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826059
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1260695
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0021108589
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021799213
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	060307,2152.530,-15940.899,40,0.8,40,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	6	KALMAN_CONTROL	0.044,-0.275
_XMS_TOUTs	0	KALMAN_X	-58402.0,-470.6,-156.1,60485.2,-1020.2
_SM_DEPTHo	0.42	KALMAN_Y	27229.6,394.9,-85.9,-34011.1,1340.3
_SM_ANGLEo	-59.5	MHEAD_RNG_PITCHd_Wd	161.2,4106,-16.8,-10.000
GPS2	061401,2152.597,-15941.105,16,1.8,21,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	-0.2,1.022930	MM_CLLLayer	0.03
SM_CCo	11729,52.83,0.444,0,0,1102,450.13	MM_CfgFile	0.30
SM_GC	0.37,0.00,0.00,52.83,0.000,0.000,0.444,417,2568,1102,-11.63,0.23,450.13	_24V_AH	23.8,22.245
IRIDIUM_FIX	2143.45,-15938.60,261098,030308	_10V_AH	10.0,25.711
TT8_MAMPS	0.065195	DATA_FILE_SIZE	34650,1077
HUMID	1801	CAP_FILE_SIZE	381098,0
INTERNAL_PRESSURE	9.96478	CFSIZE	-70647808,-89456640
TCM_TEMP	23.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
MM_GliderControlLayer	0.41	GPS	010809,093236,2150.749,-15941.068,32,1.7,33,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	126	83.28	SBE_CT	748	24	427.59
Roll_motor	85	73	150.18	nil	0	0	0.00
VBD_pump_during_apogee	413	954	9387.38	nil	0	0	0.00
VBD_pump_during_surface	52	444	558.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	74.10	nil	0	0	0.00
Iridium_during_connect	59	160	226.99	GUMSTIX	152	1000	3618.43
Iridium_during_xfer	302	223	1605.29
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	80	1000	1910.19
GPS	21	50	10.96
TT8	2106	18	379.23
LPSleep	5973	0	23.30
TT8_Active	575	18	103.53
TT8_Sampling	1870	38	710.60
TT8_CF8	1900	44	836.34
TT8_Kalman	33	80	26.68
Analog_circuits	1584	12	190.18
GPS_charging	0	0	0.00
Compass	1816	8	145.30
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
24	-1.89	-170.3	0.0	0.0	0	104	0.00	0.00	-76.53	0.000	2	0.000	0.000	421	2508	3238
110	-1.89	-170.3	3.3	-8.2	11	133	10.95	2.30	-6.03	0.000	4	0.127	0.053	2528	1149	3635
195	-1.89	-170.3	29.2	-21.9	20	202	0.00	2.30	0.00	0.000	6	0.000	0.021	2528	2574	3636
396	-1.89	-170.3	67.7	-19.2	39	400	0.00	2.40	0.00	0.000	4	0.000	0.039	2528	1153	3636
468	-1.89	-170.3	78.7	-16.8	44	472	0.00	2.28	0.00	0.000	6	0.000	0.021	2528	2563	3636
796	-1.89	-170.3	132.7	-14.8	74	802	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2563	3638
1124	-1.89	-170.3	180.0	-13.9	105	1128	0.00	2.40	0.00	0.000	4	0.000	0.041	2528	1150	3638
1202	-1.89	-170.3	191.3	-14.0	111	1207	0.00	2.28	0.00	0.000	6	0.000	0.023	2528	2557	3638
1531	-1.89	-170.3	234.5	-13.7	141	1535	0.00	2.40	0.00	0.000	4	0.000	0.044	2528	1152	3638
1635	-1.89	-170.3	248.8	-13.2	149	1642	0.00	2.30	0.00	0.000	6	0.000	0.025	2528	2563	3638
1963	-1.89	-170.3	289.3	-12.3	180	1967	0.00	2.42	0.00	0.000	4	0.000	0.046	2529	1152	3637
2068	-1.89	-170.3	303.8	-14.5	188	2075	0.00	2.33	0.00	0.000	6	0.000	0.027	2528	2567	3637
2396	-1.89	-170.3	347.9	-13.3	219	2400	0.00	2.55	0.00	0.000	4	0.000	0.054	2528	3927	3635
2456	-1.89	-170.3	355.2	-13.1	223	2461	0.00	2.45	0.00	0.000	6	0.000	0.028	2528	2550	3634
2784	-1.89	-170.3	396.0	-11.5	253	2791	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2550	3632
3113	-1.89	-170.3	434.1	-11.3	284	3119	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2550	3628
3441	-1.89	-170.3	474.3	-11.5	315	3448	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2550	3626
3770	-1.89	-170.3	512.2	-11.7	346	3776	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2551	3624
4098	-1.89	-170.3	550.9	-11.3	377	4105	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2550	3620
4427	-1.89	-170.3	587.6	-11.9	408	4431	0.00	2.65	0.00	0.000	4	0.000	0.065	2528	3919	3618
4554	-1.89	-170.3	602.7	-12.6	418	4558	0.00	2.47	0.00	0.000	6	0.000	0.035	2528	2572	3617
4882	-1.89	-170.3	642.3	-11.0	448	4887	0.00	2.53	0.00	0.000	4	0.000	0.065	2528	1151	3615
4942	-1.89	-170.3	648.3	-10.7	452	4946	0.00	2.38	0.00	0.000	6	0.000	0.041	2528	2548	3614
5047	end dive: TARGET_DEPTH_EXCEEDED
state	5047	begin apogee
5060	-0.50	0.0	660.2	10.1	462	5205	1.40	0.00	132.15	0.955	6	0.072	0.000	2829	2725	2937
5206	end apogee: CONTROL_FINISHED_OK
state	5206	begin climb
5211	1.89	170.3	665.1	0.0	476	5363	2.35	2.45	135.98	0.930	4	0.043	0.074	3368	3926	2241
5390	1.89	170.3	655.8	10.1	492	5394	0.00	2.30	0.00	0.000	6	0.000	0.037	3368	2714	2240
5718	1.89	170.3	617.4	11.8	522	5725	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	2714	2237
6047	1.92	190.4	582.9	9.2	553	6072	0.00	2.47	16.77	0.845	4	0.000	0.064	3368	3934	2160
6244	1.92	193.3	564.3	9.9	569	6256	0.00	2.30	3.85	0.541	6	0.000	0.034	3368	2706	2148
6577	1.95	217.8	533.5	9.0	600	6604	0.00	0.00	20.95	0.847	6	0.000	0.000	3368	2706	2048
6932	1.95	217.8	498.5	11.1	633	6936	0.00	2.45	0.00	0.000	4	0.000	0.062	3368	3936	2046
7072	1.95	217.8	481.5	11.9	644	7080	0.00	2.28	0.00	0.000	6	0.000	0.033	3368	2715	2045
7401	1.97	236.4	448.2	9.3	675	7419	0.00	0.00	15.73	0.790	6	0.000	0.000	3368	2715	1973
7739	1.97	236.4	414.6	10.8	707	7746	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	2715	1970
8068	1.97	236.4	376.8	11.2	738	8072	0.00	2.40	0.00	0.000	4	0.000	0.060	3368	3938	1969
8295	1.97	236.4	350.4	11.7	757	8300	0.00	2.28	0.00	0.000	6	0.000	0.031	3368	2705	1969
8624	1.97	236.4	316.8	11.0	787	8630	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	2705	1968
8952	1.98	238.8	282.4	9.9	818	8959	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	2705	1968
9281	2.00	255.4	250.6	9.3	849	9305	0.00	2.45	16.02	0.670	4	0.000	0.056	3368	3933	1895
9460	2.00	255.4	231.2	11.6	864	9464	0.00	2.25	0.00	0.000	6	0.000	0.028	3368	2705	1893
9793	2.00	255.4	198.4	11.4	895	9798	0.00	2.35	0.00	0.000	4	0.000	0.048	3368	1326	1893
9864	2.00	255.4	190.2	11.0	900	9871	0.00	2.33	0.00	0.000	6	0.000	0.029	3368	2731	1892
10192	2.00	255.4	154.2	10.8	931	10196	0.00	2.30	0.00	0.000	4	0.000	0.054	3368	3927	1892
10282	2.00	255.4	143.7	12.0	938	10286	0.00	2.20	0.00	0.000	6	0.000	0.025	3368	2712	1892
10610	2.03	284.2	108.8	8.9	968	10640	0.00	2.38	24.52	0.560	4	0.000	0.049	3368	3933	1778
10716	2.03	284.2	98.3	10.3	976	10724	0.00	2.20	0.00	0.000	6	0.000	0.025	3368	2717	1775
11045	2.06	302.0	65.8	9.3	1007	11070	0.10	2.38	15.48	0.497	4	0.051	0.041	3405	1345	1704
11111	2.06	302.0	58.2	12.5	1012	11115	0.00	2.25	0.00	0.000	6	0.000	0.026	3405	2722	1702
11445	2.10	339.7	25.8	8.5	1043	11482	0.00	2.45	31.60	0.476	4	0.000	0.041	3405	1336	1551
11554	2.10	341.5	15.8	9.9	1055	11561	0.00	2.28	0.00	0.000	6	0.000	0.025	3405	2728	1548
11641	2.10	342.0	6.3	10.0	1068	11647	0.00	0.00	0.00	0.000	6	0.000	0.000	3405	2728	1547
11652	end climb: SURFACE_DEPTH_REACHED
state	11652	begin surface coast
11695	end surface coast: CONTROL_FINISHED_OK
state	11695	begin surface