Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 40 * 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 40 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -86639.102 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 -86639.102

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 37 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 175 R_STBD_OVSHOOT 36 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 40 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 093236,2150.749,-15941.068,32,1.7,33,9.8 TGT_LATLONG 2154.000,-15942.000

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 22 KALMAN_CONTROL 0.038,0.276

_XMS_TOUTs 0 KALMAN_X -60510.2,588.0,-120.5,61060.2,-1260.6

_SM_DEPTHo 0.17 KALMAN_Y 27726.1,18.5,13.5,-37638.9,513.6

_SM_ANGLEo -62.1 MHEAD_RNG_PITCHd_Wd 358.0,6120,-16.8,-10.000

GPS2 094852,2150.749,-15941.360,12,3.5,31,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T0

Post-dive calculations and measurements:

FINISH -0.3,1.008868 MM_CLLLayer 0.03

SM_CCo 11681,46.90,0.437,0,0,1102,450.13 MM_CfgFile 0.30

SM_GC 0.01,0.00,0.00,46.90,0.000,0.000,0.437,420,2532,1102,-11.62,-0.79,450.13 _24V_AH 23.8,22.411

IRIDIUM_FIX 2145.77,-15942.95,261098,060654 _10V_AH 10.0,25.832

TT8_MAMPS 0.062894 DATA_FILE_SIZE 34640,1061

HUMID 1776 CAP_FILE_SIZE 386943,0

INTERNAL_PRESSURE 9.97455 CFSIZE -70647808,-89849856

TCM_TEMP 23.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

MM_GliderControlLayer 0.41 GPS 010809,130637,2152.476,-15941.941,36,1.8,36,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 127 83.79 SBE_CT 737 24 421.43

Roll_motor 107 70 181.13 nil 0 0 0.00

VBD_pump_during_apogee 421 954 9582.26 nil 0 0 0.00

VBD_pump_during_surface 46 437 488.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 73.48 nil 0 0 0.00

Iridium_during_connect 27 160 103.01 GUMSTIX 154 1000 3667.82

Iridium_during_xfer 572 223 3038.26

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 82 1000 1956.22

GPS 32 50 16.44

TT8 2104 18 378.89

LPSleep 5851 0 22.82

TT8_Active 576 18 103.85

TT8_Sampling 1961 38 745.18

TT8_CF8 2191 44 964.36

TT8_Kalman 33 80 26.69

Analog_circuits 1624 12 194.98

GPS_charging 0 0 0.00

Compass 1886 8 150.95

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

24 -1.89 -170.3 0.0 0.0 0 110 0.00 0.00 -83.07 0.000 2 0.000 0.000 418 2568 3512

116 -1.89 -170.3 4.3 -11.5 12 139 11.00 2.58 -1.67 0.000 4 0.127 0.053 2527 3925 3635

336 -1.89 -170.3 63.0 -16.5 32 344 0.00 2.45 0.00 0.000 6 0.000 0.022 2527 2543 3636

665 -1.89 -170.3 116.9 -16.4 63 671 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2544 3636

993 -1.89 -170.3 168.2 -15.5 94 997 0.00 2.58 0.00 0.000 4 0.000 0.044 2527 3930 3637

1052 -1.89 -170.3 177.0 -15.8 98 1056 0.00 2.42 0.00 0.000 6 0.000 0.024 2527 2563 3637

1380 -1.89 -170.3 223.1 -13.5 128 1384 0.00 2.35 0.00 0.000 4 0.000 0.044 2527 1163 3637

1423 -1.89 -170.3 228.9 -13.6 131 1427 0.00 2.28 0.00 0.000 6 0.000 0.024 2526 2574 3637

1751 -1.89 -170.3 273.5 -13.9 161 1755 0.00 2.53 0.00 0.000 4 0.000 0.050 2527 3918 3637

1815 -1.89 -170.3 281.7 -13.6 165 1822 0.00 2.45 0.00 0.000 6 0.000 0.026 2527 2557 3637

2143 -1.89 -170.3 323.7 -12.4 196 2147 0.00 2.60 0.00 0.000 4 0.000 0.051 2527 3925 3635

2274 -1.89 -170.3 339.9 -12.5 206 2281 0.00 2.47 0.00 0.000 6 0.000 0.027 2527 2557 3634

2602 -1.89 -170.3 380.6 -13.0 237 2609 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2557 3632

2931 -1.89 -170.3 419.9 -11.7 268 2935 0.00 2.62 0.00 0.000 4 0.000 0.055 2527 3918 3630

2989 -1.89 -170.3 426.1 -11.3 272 2994 0.00 2.50 0.00 0.000 6 0.000 0.030 2527 2554 3629

3318 -1.89 -170.3 462.3 -10.8 302 3322 0.00 2.65 0.00 0.000 4 0.000 0.057 2527 3922 3626

3395 -1.89 -170.3 470.6 -10.5 308 3400 0.00 2.53 0.00 0.000 6 0.000 0.031 2527 2551 3625

3723 -1.89 -170.3 507.3 -12.1 338 3728 0.00 2.67 0.00 0.000 4 0.000 0.058 2527 3924 3623

3770 -1.89 -170.3 513.3 -13.1 341 3777 0.00 2.53 0.00 0.000 6 0.000 0.031 2527 2560 3622

4098 -1.89 -170.3 551.4 -11.1 372 4105 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2561 3620

4427 -1.89 -170.3 586.6 -10.9 403 4431 0.00 2.42 0.00 0.000 4 0.000 0.060 2527 1165 3617

4462 -1.89 -170.3 591.0 -11.9 405 4470 0.00 2.33 0.00 0.000 6 0.000 0.035 2527 2555 3616

4791 -1.89 -170.3 630.7 -12.9 436 4795 0.00 2.72 0.00 0.000 4 0.000 0.071 2527 3935 3614

4938 -1.89 -170.3 651.4 -14.5 448 4943 0.00 2.58 0.00 0.000 6 0.000 0.036 2528 2564 3613

5011 end dive: TARGET_DEPTH_EXCEEDED

state 5011 begin apogee

5024 -0.50 0.0 661.3 13.1 454 5168 1.42 0.00 132.02 0.955 6 0.071 0.000 2833 2731 2937

5169 end apogee: CONTROL_FINISHED_OK

state 5170 begin climb

5175 1.89 170.3 670.9 0.0 468 5324 2.33 0.00 136.80 0.936 6 0.043 0.000 3365 2731 2242

5642 1.91 184.1 640.1 9.5 512 5659 0.00 2.42 12.18 0.825 4 0.000 0.066 3365 3923 2185

5743 1.91 184.1 628.9 11.4 520 5748 0.00 2.33 0.00 0.000 6 0.000 0.036 3365 2717 2185

6072 1.91 184.1 589.7 12.3 550 6076 0.00 2.47 0.00 0.000 4 0.000 0.064 3365 3933 2183

6338 1.91 184.1 554.7 13.0 572 6345 0.00 2.33 0.00 0.000 6 0.000 0.035 3365 2716 2182

6666 1.91 184.1 518.9 10.9 603 6673 0.00 0.00 0.00 0.000 6 0.000 0.000 3365 2717 2181

6995 1.93 201.8 487.2 9.3 634 7019 0.00 2.50 14.52 0.803 4 0.000 0.061 3365 3923 2114

7096 1.93 201.8 477.5 10.2 642 7103 0.00 2.33 0.00 0.000 6 0.000 0.033 3365 2705 2113

7424 1.94 209.9 447.3 9.7 673 7438 0.00 2.50 7.90 0.709 4 0.000 0.061 3365 3925 2081

7672 1.94 209.9 420.4 10.5 694 7676 0.00 2.30 0.00 0.000 6 0.000 0.032 3365 2711 2080

8000 1.94 209.9 385.7 10.6 724 8004 0.00 2.45 0.00 0.000 4 0.000 0.058 3365 3930 2079

8089 1.94 209.9 376.1 11.0 731 8093 0.00 2.30 0.00 0.000 6 0.000 0.031 3365 2715 2078

8417 1.99 251.9 346.3 8.3 761 8458 0.00 2.47 34.95 0.767 4 0.000 0.057 3365 3925 1909

8621 1.99 251.9 324.3 12.4 777 8628 0.00 2.30 0.00 0.000 6 0.000 0.031 3364 2718 1904

8949 1.99 251.9 284.3 11.4 808 8953 0.00 2.45 0.00 0.000 4 0.000 0.056 3365 3936 1903

9030 1.99 251.9 274.6 11.5 814 9037 0.00 2.33 0.00 0.000 6 0.000 0.029 3365 2709 1903

9359 2.03 278.1 240.7 9.0 845 9386 0.00 2.50 21.73 0.670 4 0.000 0.054 3365 3922 1803

9487 2.03 278.1 229.2 10.4 855 9494 0.00 2.30 0.00 0.000 6 0.000 0.028 3365 2708 1799

9815 2.03 278.1 192.5 11.8 886 9819 0.00 2.45 0.00 0.000 4 0.000 0.052 3364 3933 1798

9851 2.03 278.1 188.0 12.0 888 9858 0.00 2.30 0.00 0.000 6 0.000 0.028 3365 2713 1798

10179 2.03 278.1 152.6 10.8 919 10186 0.10 0.00 0.00 0.000 6 0.051 0.000 3400 2712 1798

10508 2.03 278.1 114.8 11.1 950 10512 0.00 2.42 0.00 0.000 4 0.000 0.050 3400 3935 1798

10665 2.04 289.2 98.0 9.6 963 10681 0.00 2.25 9.93 0.502 6 0.000 0.025 3400 2711 1758

11016 2.04 289.2 60.8 11.6 995 11021 0.00 2.42 0.00 0.000 4 0.000 0.048 3400 3939 1756

11163 2.12 350.9 49.3 7.6 1007 11228 0.00 2.28 51.60 0.502 6 0.000 0.024 3400 2707 1505

11418 2.12 350.9 24.6 11.3 1030 11422 0.00 2.42 0.00 0.000 4 0.000 0.046 3400 3937 1500

11472 2.12 350.9 18.7 12.0 1034 11479 0.00 2.25 0.00 0.000 6 0.000 0.024 3400 2719 1499

11560 2.12 350.9 9.1 11.7 1047 11566 0.00 0.00 0.00 0.000 6 0.000 0.000 3400 2719 1500

11603 end climb: SURFACE_DEPTH_REACHED

state 11604 begin surface coast

11648 end surface coast: CONTROL_FINISHED_OK

state 11648 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	40	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-86639.102	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	093236,2150.749,-15941.068,32,1.7,33,9.8	TGT_LATLONG	2154.000,-15942.000
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	22	KALMAN_CONTROL	0.038,0.276
_XMS_TOUTs	0	KALMAN_X	-60510.2,588.0,-120.5,61060.2,-1260.6
_SM_DEPTHo	0.17	KALMAN_Y	27726.1,18.5,13.5,-37638.9,513.6
_SM_ANGLEo	-62.1	MHEAD_RNG_PITCHd_Wd	358.0,6120,-16.8,-10.000
GPS2	094852,2150.749,-15941.360,12,3.5,31,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T0

FINISH	-0.3,1.008868	MM_CLLLayer	0.03
SM_CCo	11681,46.90,0.437,0,0,1102,450.13	MM_CfgFile	0.30
SM_GC	0.01,0.00,0.00,46.90,0.000,0.000,0.437,420,2532,1102,-11.62,-0.79,450.13	_24V_AH	23.8,22.411
IRIDIUM_FIX	2145.77,-15942.95,261098,060654	_10V_AH	10.0,25.832
TT8_MAMPS	0.062894	DATA_FILE_SIZE	34640,1061
HUMID	1776	CAP_FILE_SIZE	386943,0
INTERNAL_PRESSURE	9.97455	CFSIZE	-70647808,-89849856
TCM_TEMP	23.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
MM_GliderControlLayer	0.41	GPS	010809,130637,2152.476,-15941.941,36,1.8,36,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	127	83.79	SBE_CT	737	24	421.43
Roll_motor	107	70	181.13	nil	0	0	0.00
VBD_pump_during_apogee	421	954	9582.26	nil	0	0	0.00
VBD_pump_during_surface	46	437	488.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	73.48	nil	0	0	0.00
Iridium_during_connect	27	160	103.01	GUMSTIX	154	1000	3667.82
Iridium_during_xfer	572	223	3038.26
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	82	1000	1956.22
GPS	32	50	16.44
TT8	2104	18	378.89
LPSleep	5851	0	22.82
TT8_Active	576	18	103.85
TT8_Sampling	1961	38	745.18
TT8_CF8	2191	44	964.36
TT8_Kalman	33	80	26.69
Analog_circuits	1624	12	194.98
GPS_charging	0	0	0.00
Compass	1886	8	150.95
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
24	-1.89	-170.3	0.0	0.0	0	110	0.00	0.00	-83.07	0.000	2	0.000	0.000	418	2568	3512
116	-1.89	-170.3	4.3	-11.5	12	139	11.00	2.58	-1.67	0.000	4	0.127	0.053	2527	3925	3635
336	-1.89	-170.3	63.0	-16.5	32	344	0.00	2.45	0.00	0.000	6	0.000	0.022	2527	2543	3636
665	-1.89	-170.3	116.9	-16.4	63	671	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2544	3636
993	-1.89	-170.3	168.2	-15.5	94	997	0.00	2.58	0.00	0.000	4	0.000	0.044	2527	3930	3637
1052	-1.89	-170.3	177.0	-15.8	98	1056	0.00	2.42	0.00	0.000	6	0.000	0.024	2527	2563	3637
1380	-1.89	-170.3	223.1	-13.5	128	1384	0.00	2.35	0.00	0.000	4	0.000	0.044	2527	1163	3637
1423	-1.89	-170.3	228.9	-13.6	131	1427	0.00	2.28	0.00	0.000	6	0.000	0.024	2526	2574	3637
1751	-1.89	-170.3	273.5	-13.9	161	1755	0.00	2.53	0.00	0.000	4	0.000	0.050	2527	3918	3637
1815	-1.89	-170.3	281.7	-13.6	165	1822	0.00	2.45	0.00	0.000	6	0.000	0.026	2527	2557	3637
2143	-1.89	-170.3	323.7	-12.4	196	2147	0.00	2.60	0.00	0.000	4	0.000	0.051	2527	3925	3635
2274	-1.89	-170.3	339.9	-12.5	206	2281	0.00	2.47	0.00	0.000	6	0.000	0.027	2527	2557	3634
2602	-1.89	-170.3	380.6	-13.0	237	2609	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2557	3632
2931	-1.89	-170.3	419.9	-11.7	268	2935	0.00	2.62	0.00	0.000	4	0.000	0.055	2527	3918	3630
2989	-1.89	-170.3	426.1	-11.3	272	2994	0.00	2.50	0.00	0.000	6	0.000	0.030	2527	2554	3629
3318	-1.89	-170.3	462.3	-10.8	302	3322	0.00	2.65	0.00	0.000	4	0.000	0.057	2527	3922	3626
3395	-1.89	-170.3	470.6	-10.5	308	3400	0.00	2.53	0.00	0.000	6	0.000	0.031	2527	2551	3625
3723	-1.89	-170.3	507.3	-12.1	338	3728	0.00	2.67	0.00	0.000	4	0.000	0.058	2527	3924	3623
3770	-1.89	-170.3	513.3	-13.1	341	3777	0.00	2.53	0.00	0.000	6	0.000	0.031	2527	2560	3622
4098	-1.89	-170.3	551.4	-11.1	372	4105	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2561	3620
4427	-1.89	-170.3	586.6	-10.9	403	4431	0.00	2.42	0.00	0.000	4	0.000	0.060	2527	1165	3617
4462	-1.89	-170.3	591.0	-11.9	405	4470	0.00	2.33	0.00	0.000	6	0.000	0.035	2527	2555	3616
4791	-1.89	-170.3	630.7	-12.9	436	4795	0.00	2.72	0.00	0.000	4	0.000	0.071	2527	3935	3614
4938	-1.89	-170.3	651.4	-14.5	448	4943	0.00	2.58	0.00	0.000	6	0.000	0.036	2528	2564	3613
5011	end dive: TARGET_DEPTH_EXCEEDED
state	5011	begin apogee
5024	-0.50	0.0	661.3	13.1	454	5168	1.42	0.00	132.02	0.955	6	0.071	0.000	2833	2731	2937
5169	end apogee: CONTROL_FINISHED_OK
state	5170	begin climb
5175	1.89	170.3	670.9	0.0	468	5324	2.33	0.00	136.80	0.936	6	0.043	0.000	3365	2731	2242
5642	1.91	184.1	640.1	9.5	512	5659	0.00	2.42	12.18	0.825	4	0.000	0.066	3365	3923	2185
5743	1.91	184.1	628.9	11.4	520	5748	0.00	2.33	0.00	0.000	6	0.000	0.036	3365	2717	2185
6072	1.91	184.1	589.7	12.3	550	6076	0.00	2.47	0.00	0.000	4	0.000	0.064	3365	3933	2183
6338	1.91	184.1	554.7	13.0	572	6345	0.00	2.33	0.00	0.000	6	0.000	0.035	3365	2716	2182
6666	1.91	184.1	518.9	10.9	603	6673	0.00	0.00	0.00	0.000	6	0.000	0.000	3365	2717	2181
6995	1.93	201.8	487.2	9.3	634	7019	0.00	2.50	14.52	0.803	4	0.000	0.061	3365	3923	2114
7096	1.93	201.8	477.5	10.2	642	7103	0.00	2.33	0.00	0.000	6	0.000	0.033	3365	2705	2113
7424	1.94	209.9	447.3	9.7	673	7438	0.00	2.50	7.90	0.709	4	0.000	0.061	3365	3925	2081
7672	1.94	209.9	420.4	10.5	694	7676	0.00	2.30	0.00	0.000	6	0.000	0.032	3365	2711	2080
8000	1.94	209.9	385.7	10.6	724	8004	0.00	2.45	0.00	0.000	4	0.000	0.058	3365	3930	2079
8089	1.94	209.9	376.1	11.0	731	8093	0.00	2.30	0.00	0.000	6	0.000	0.031	3365	2715	2078
8417	1.99	251.9	346.3	8.3	761	8458	0.00	2.47	34.95	0.767	4	0.000	0.057	3365	3925	1909
8621	1.99	251.9	324.3	12.4	777	8628	0.00	2.30	0.00	0.000	6	0.000	0.031	3364	2718	1904
8949	1.99	251.9	284.3	11.4	808	8953	0.00	2.45	0.00	0.000	4	0.000	0.056	3365	3936	1903
9030	1.99	251.9	274.6	11.5	814	9037	0.00	2.33	0.00	0.000	6	0.000	0.029	3365	2709	1903
9359	2.03	278.1	240.7	9.0	845	9386	0.00	2.50	21.73	0.670	4	0.000	0.054	3365	3922	1803
9487	2.03	278.1	229.2	10.4	855	9494	0.00	2.30	0.00	0.000	6	0.000	0.028	3365	2708	1799
9815	2.03	278.1	192.5	11.8	886	9819	0.00	2.45	0.00	0.000	4	0.000	0.052	3364	3933	1798
9851	2.03	278.1	188.0	12.0	888	9858	0.00	2.30	0.00	0.000	6	0.000	0.028	3365	2713	1798
10179	2.03	278.1	152.6	10.8	919	10186	0.10	0.00	0.00	0.000	6	0.051	0.000	3400	2712	1798
10508	2.03	278.1	114.8	11.1	950	10512	0.00	2.42	0.00	0.000	4	0.000	0.050	3400	3935	1798
10665	2.04	289.2	98.0	9.6	963	10681	0.00	2.25	9.93	0.502	6	0.000	0.025	3400	2711	1758
11016	2.04	289.2	60.8	11.6	995	11021	0.00	2.42	0.00	0.000	4	0.000	0.048	3400	3939	1756
11163	2.12	350.9	49.3	7.6	1007	11228	0.00	2.28	51.60	0.502	6	0.000	0.024	3400	2707	1505
11418	2.12	350.9	24.6	11.3	1030	11422	0.00	2.42	0.00	0.000	4	0.000	0.046	3400	3937	1500
11472	2.12	350.9	18.7	12.0	1034	11479	0.00	2.25	0.00	0.000	6	0.000	0.024	3400	2719	1499
11560	2.12	350.9	9.1	11.7	1047	11566	0.00	0.00	0.00	0.000	6	0.000	0.000	3400	2719	1500
11603	end climb: SURFACE_DEPTH_REACHED
state	11604	begin surface coast
11648	end surface coast: CONTROL_FINISHED_OK
state	11648	begin surface