Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 50 * 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 50 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 2530 ALTIM_PULSE 2

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 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 28 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 -58490.316 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 200 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 400

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 -58490.316

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 2530 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 200 R_STBD_OVSHOOT 28 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 50 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 063806,2154.734,-15944.796,9,1.2,25,9.8 TGT_LATLONG 2155.000,-15943.400

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.295,0.008

_XMS_TOUTs 0 KALMAN_X -73641.8,-976.8,-262.2,69923.1,-1808.3

_SM_DEPTHo 0.90 KALMAN_Y 14461.3,349.1,68.6,-17340.0,308.0

_SM_ANGLEo -66.9 MHEAD_RNG_PITCHd_Wd 78.6,2554,-14.9,-10.000

GPS2 064425,2154.730,-15944.858,15,1.2,32,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.295 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TA

Post-dive calculations and measurements:

FINISH -0.3,1.008822 MM_CLLLayer 0.03

SM_CCo 13328,9.18,0.473,0,0,1305,400.08 MM_CfgFile 0.30

SM_GC 0.31,0.00,0.00,9.18,0.000,0.000,0.473,124,2642,1305,-13.66,0.40,400.08 _24V_AH 23.6,17.282

IRIDIUM_FIX 2145.77,-15943.76,271098,050555 _10V_AH 10.0,5.498

TT8_MAMPS 0.059826 DATA_FILE_SIZE 37784,1255

HUMID 1938 CAP_FILE_SIZE 435308,4

INTERNAL_PRESSURE 11.3872 CFSIZE 260034560,251527168

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

MM_GliderControlLayer 0.41 GPS 020809,102837,2154.702,-15942.582,26,1.2,26,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 174 137.03 SBE_CT 844 24 478.22

Roll_motor 87 98 202.50 nil 0 0 0.00

VBD_pump_during_apogee 752 941 16717.04 nil 0 0 0.00

VBD_pump_during_surface 9 473 102.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.19 nil 0 0 0.00

Iridium_during_connect 27 160 102.73 GUMSTIX 166 1000 3929.57

Iridium_during_xfer 197 223 1040.41

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 88 1000 2095.82

GPS 32 50 16.05

TT8 2382 18 428.90

LPSleep 7485 0 29.19

TT8_Active 785 18 141.44

TT8_Sampling 2092 38 795.04

TT8_CF8 981 44 431.86

TT8_Kalman 33 80 26.67

Analog_circuits 1924 12 230.93

GPS_charging 0 0 0.00

Compass 2028 8 162.24

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 -1.48 -194.6 0.0 0.0 0 100 0.00 0.00 -80.62 0.000 2 0.000 0.000 123 2640 3488

103 -1.48 -194.6 4.3 -10.6 12 132 15.62 2.28 -3.45 0.000 4 0.174 0.068 2765 3877 3735

148 -1.48 -194.6 25.0 -30.1 18 156 0.00 2.12 0.00 0.000 6 0.000 0.029 2765 2623 3735

346 -1.48 -194.6 56.4 -14.8 37 347 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2622 3736

666 -1.48 -194.6 97.5 -13.4 67 670 0.00 2.30 0.00 0.000 4 0.000 0.064 2765 3881 3737

795 -1.48 -194.6 115.5 -13.4 78 799 0.00 2.08 0.00 0.000 6 0.000 0.028 2765 2623 3738

1125 -1.48 -194.6 155.1 -10.9 109 1127 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2622 3739

1444 -1.48 -194.6 187.9 -10.2 139 1445 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2622 3739

1762 -1.48 -194.6 220.5 -10.1 169 1766 0.00 2.33 0.00 0.000 4 0.000 0.069 2765 3880 3739

1818 -1.48 -194.6 226.7 -11.3 173 1825 0.00 2.08 0.00 0.000 6 0.000 0.030 2765 2632 3739

2143 -1.48 -194.6 259.0 -8.9 204 2144 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2631 3738

2461 -1.48 -194.6 284.9 -9.4 234 2466 0.00 2.40 0.00 0.000 4 0.000 0.041 2765 1239 3736

2513 -1.48 -194.6 290.1 -10.3 238 2517 0.00 2.42 0.00 0.000 6 0.000 0.041 2765 2627 3736

2838 -1.48 -194.6 322.5 -9.1 268 2839 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2627 3734

3157 -1.48 -194.6 349.4 -8.6 298 3158 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2627 3732

3475 -1.48 -194.6 380.3 -9.8 328 3476 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2627 3729

3794 -1.48 -194.6 409.2 -8.8 358 3795 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2627 3725

4112 -1.48 -194.6 435.2 -7.6 388 4113 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2627 3723

4432 -1.48 -194.6 459.2 -7.2 418 4433 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2627 3722

4749 -1.48 -194.6 482.3 -7.5 448 4751 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2627 3719

5068 -1.48 -194.6 506.1 -7.9 478 5069 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2627 3716

5386 -1.48 -194.6 532.2 -9.0 508 5390 0.00 2.42 0.00 0.000 4 0.000 0.087 2765 3890 3714

5442 -1.48 -194.6 537.7 -10.7 512 5449 0.00 2.17 0.00 0.000 6 0.000 0.041 2766 2640 3713

5767 -1.48 -194.6 568.9 -9.8 543 5771 0.00 2.40 0.00 0.000 4 0.000 0.087 2765 3887 3711

5810 -1.48 -194.6 573.2 -9.9 546 5818 0.00 2.20 0.00 0.000 6 0.000 0.041 2765 2623 3712

6136 -1.48 -194.6 600.5 -7.9 577 6137 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2623 3709

6454 -1.48 -194.6 624.2 -7.2 607 6459 0.00 2.53 0.00 0.000 4 0.000 0.062 2766 1228 3708

6498 -1.48 -194.6 627.5 -7.5 610 6506 0.00 2.55 0.00 0.000 6 0.000 0.058 2765 2633 3707

6823 -1.48 -194.6 653.1 -8.4 641 6828 0.00 2.45 0.00 0.000 4 0.000 0.098 2765 3890 3705

6879 -1.48 -194.6 658.2 -9.2 645 6887 0.00 2.22 0.00 0.000 6 0.000 0.043 2765 2626 3705

6905 end dive: TARGET_DEPTH_EXCEEDED

state 6905 begin apogee

6909 -0.42 0.0 660.4 8.3 648 7168 1.15 0.00 247.10 0.941 6 0.083 0.000 3005 2523 2936

7170 end apogee: CONTROL_FINISHED_OK

state 7170 begin climb

7172 1.48 194.6 669.1 0.0 674 7445 1.88 2.65 258.90 0.886 4 0.054 0.064 3417 1116 2142

7504 1.48 194.6 644.9 10.8 702 7509 0.00 2.60 0.00 0.000 6 0.000 0.055 3417 2530 2140

7829 1.48 194.6 604.1 13.7 732 7830 0.00 0.00 0.00 0.000 6 0.000 0.000 3417 2530 2137

8147 1.48 194.6 564.9 10.4 762 8151 0.00 2.55 0.00 0.000 4 0.000 0.054 3417 1123 2135

8187 1.48 194.6 560.8 10.3 765 8191 0.00 2.55 0.00 0.000 6 0.000 0.051 3417 2533 2135

8512 1.51 220.9 531.0 9.1 795 8552 0.00 0.00 33.30 0.874 6 0.000 0.000 3417 2533 2036

8871 1.51 220.9 491.5 10.8 829 8875 0.00 2.62 0.00 0.000 4 0.000 0.086 3417 3895 2031

8902 1.51 220.9 487.8 11.4 831 8910 0.00 2.42 0.00 0.000 6 0.000 0.041 3417 2517 2031

9228 1.53 233.4 458.6 9.6 862 9249 0.00 0.00 16.90 0.851 6 0.000 0.000 3417 2517 1984

9567 1.54 246.4 426.0 9.5 894 9588 0.00 0.00 17.73 0.844 6 0.000 0.000 3417 2517 1931

9907 1.58 274.9 396.0 9.0 926 9947 0.00 0.00 37.72 0.857 6 0.000 0.000 3417 2517 1815

10265 1.63 313.4 365.0 8.7 960 10326 0.15 2.67 51.20 0.821 4 0.051 0.077 3459 3893 1658

10386 1.63 313.4 350.7 13.0 970 10390 0.00 2.42 0.00 0.000 6 0.000 0.041 3460 2517 1656

10710 1.63 313.4 303.3 16.0 1000 10714 0.00 2.62 0.00 0.000 4 0.000 0.075 3460 3897 1653

10761 1.63 313.4 295.4 15.6 1004 10766 0.00 2.40 0.00 0.000 6 0.000 0.040 3460 2525 1653

11086 1.63 313.4 248.0 13.7 1034 11087 0.00 0.00 0.00 0.000 6 0.000 0.000 3460 2523 1652

11404 1.63 313.4 209.5 11.2 1064 11409 0.00 2.58 0.00 0.000 4 0.000 0.070 3460 3898 1651

11448 1.63 313.4 203.7 13.7 1067 11456 0.00 2.40 0.00 0.000 6 0.000 0.037 3460 2526 1651

11773 1.63 313.4 161.2 13.7 1098 11778 0.00 2.45 0.00 0.000 4 0.000 0.044 3460 1133 1650

11839 1.63 313.4 152.3 12.7 1103 11847 0.00 2.47 0.00 0.000 6 0.000 0.038 3460 2532 1649

12164 1.63 313.4 115.9 11.1 1134 12169 0.00 2.50 0.00 0.000 4 0.000 0.066 3460 3893 1649

12216 1.63 313.4 109.9 11.5 1138 12220 0.00 2.33 0.00 0.000 6 0.000 0.034 3460 2526 1649

12541 1.63 319.6 74.3 9.8 1168 12554 0.00 2.45 6.93 0.536 4 0.000 0.041 3460 1125 1633

12604 1.64 325.2 68.0 9.8 1173 12623 0.00 2.47 9.40 0.558 6 0.000 0.035 3460 2527 1610

12941 1.71 382.7 35.1 8.0 1205 13024 0.00 2.53 73.50 0.569 4 0.000 0.061 3459 3887 1375

13096 1.71 382.7 20.1 12.6 1218 13104 0.00 2.35 0.00 0.000 6 0.000 0.030 3460 2519 1373

13252 end climb: SURFACE_DEPTH_REACHED

state 13252 begin surface coast

13303 end surface coast: CONTROL_FINISHED_OK

state 13303 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	50	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	2530	ALTIM_PULSE	2
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	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	28	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	-58490.316	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	200	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	063806,2154.734,-15944.796,9,1.2,25,9.8	TGT_LATLONG	2155.000,-15943.400
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.295,0.008
_XMS_TOUTs	0	KALMAN_X	-73641.8,-976.8,-262.2,69923.1,-1808.3
_SM_DEPTHo	0.90	KALMAN_Y	14461.3,349.1,68.6,-17340.0,308.0
_SM_ANGLEo	-66.9	MHEAD_RNG_PITCHd_Wd	78.6,2554,-14.9,-10.000
GPS2	064425,2154.730,-15944.858,15,1.2,32,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.295	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TA

FINISH	-0.3,1.008822	MM_CLLLayer	0.03
SM_CCo	13328,9.18,0.473,0,0,1305,400.08	MM_CfgFile	0.30
SM_GC	0.31,0.00,0.00,9.18,0.000,0.000,0.473,124,2642,1305,-13.66,0.40,400.08	_24V_AH	23.6,17.282
IRIDIUM_FIX	2145.77,-15943.76,271098,050555	_10V_AH	10.0,5.498
TT8_MAMPS	0.059826	DATA_FILE_SIZE	37784,1255
HUMID	1938	CAP_FILE_SIZE	435308,4
INTERNAL_PRESSURE	11.3872	CFSIZE	260034560,251527168
TCM_TEMP	23.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,102837,2154.702,-15942.582,26,1.2,26,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	174	137.03	SBE_CT	844	24	478.22
Roll_motor	87	98	202.50	nil	0	0	0.00
VBD_pump_during_apogee	752	941	16717.04	nil	0	0	0.00
VBD_pump_during_surface	9	473	102.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.19	nil	0	0	0.00
Iridium_during_connect	27	160	102.73	GUMSTIX	166	1000	3929.57
Iridium_during_xfer	197	223	1040.41
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	88	1000	2095.82
GPS	32	50	16.05
TT8	2382	18	428.90
LPSleep	7485	0	29.19
TT8_Active	785	18	141.44
TT8_Sampling	2092	38	795.04
TT8_CF8	981	44	431.86
TT8_Kalman	33	80	26.67
Analog_circuits	1924	12	230.93
GPS_charging	0	0	0.00
Compass	2028	8	162.24
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	-1.48	-194.6	0.0	0.0	0	100	0.00	0.00	-80.62	0.000	2	0.000	0.000	123	2640	3488
103	-1.48	-194.6	4.3	-10.6	12	132	15.62	2.28	-3.45	0.000	4	0.174	0.068	2765	3877	3735
148	-1.48	-194.6	25.0	-30.1	18	156	0.00	2.12	0.00	0.000	6	0.000	0.029	2765	2623	3735
346	-1.48	-194.6	56.4	-14.8	37	347	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2622	3736
666	-1.48	-194.6	97.5	-13.4	67	670	0.00	2.30	0.00	0.000	4	0.000	0.064	2765	3881	3737
795	-1.48	-194.6	115.5	-13.4	78	799	0.00	2.08	0.00	0.000	6	0.000	0.028	2765	2623	3738
1125	-1.48	-194.6	155.1	-10.9	109	1127	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2622	3739
1444	-1.48	-194.6	187.9	-10.2	139	1445	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2622	3739
1762	-1.48	-194.6	220.5	-10.1	169	1766	0.00	2.33	0.00	0.000	4	0.000	0.069	2765	3880	3739
1818	-1.48	-194.6	226.7	-11.3	173	1825	0.00	2.08	0.00	0.000	6	0.000	0.030	2765	2632	3739
2143	-1.48	-194.6	259.0	-8.9	204	2144	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2631	3738
2461	-1.48	-194.6	284.9	-9.4	234	2466	0.00	2.40	0.00	0.000	4	0.000	0.041	2765	1239	3736
2513	-1.48	-194.6	290.1	-10.3	238	2517	0.00	2.42	0.00	0.000	6	0.000	0.041	2765	2627	3736
2838	-1.48	-194.6	322.5	-9.1	268	2839	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2627	3734
3157	-1.48	-194.6	349.4	-8.6	298	3158	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2627	3732
3475	-1.48	-194.6	380.3	-9.8	328	3476	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2627	3729
3794	-1.48	-194.6	409.2	-8.8	358	3795	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2627	3725
4112	-1.48	-194.6	435.2	-7.6	388	4113	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2627	3723
4432	-1.48	-194.6	459.2	-7.2	418	4433	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2627	3722
4749	-1.48	-194.6	482.3	-7.5	448	4751	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2627	3719
5068	-1.48	-194.6	506.1	-7.9	478	5069	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2627	3716
5386	-1.48	-194.6	532.2	-9.0	508	5390	0.00	2.42	0.00	0.000	4	0.000	0.087	2765	3890	3714
5442	-1.48	-194.6	537.7	-10.7	512	5449	0.00	2.17	0.00	0.000	6	0.000	0.041	2766	2640	3713
5767	-1.48	-194.6	568.9	-9.8	543	5771	0.00	2.40	0.00	0.000	4	0.000	0.087	2765	3887	3711
5810	-1.48	-194.6	573.2	-9.9	546	5818	0.00	2.20	0.00	0.000	6	0.000	0.041	2765	2623	3712
6136	-1.48	-194.6	600.5	-7.9	577	6137	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2623	3709
6454	-1.48	-194.6	624.2	-7.2	607	6459	0.00	2.53	0.00	0.000	4	0.000	0.062	2766	1228	3708
6498	-1.48	-194.6	627.5	-7.5	610	6506	0.00	2.55	0.00	0.000	6	0.000	0.058	2765	2633	3707
6823	-1.48	-194.6	653.1	-8.4	641	6828	0.00	2.45	0.00	0.000	4	0.000	0.098	2765	3890	3705
6879	-1.48	-194.6	658.2	-9.2	645	6887	0.00	2.22	0.00	0.000	6	0.000	0.043	2765	2626	3705
6905	end dive: TARGET_DEPTH_EXCEEDED
state	6905	begin apogee
6909	-0.42	0.0	660.4	8.3	648	7168	1.15	0.00	247.10	0.941	6	0.083	0.000	3005	2523	2936
7170	end apogee: CONTROL_FINISHED_OK
state	7170	begin climb
7172	1.48	194.6	669.1	0.0	674	7445	1.88	2.65	258.90	0.886	4	0.054	0.064	3417	1116	2142
7504	1.48	194.6	644.9	10.8	702	7509	0.00	2.60	0.00	0.000	6	0.000	0.055	3417	2530	2140
7829	1.48	194.6	604.1	13.7	732	7830	0.00	0.00	0.00	0.000	6	0.000	0.000	3417	2530	2137
8147	1.48	194.6	564.9	10.4	762	8151	0.00	2.55	0.00	0.000	4	0.000	0.054	3417	1123	2135
8187	1.48	194.6	560.8	10.3	765	8191	0.00	2.55	0.00	0.000	6	0.000	0.051	3417	2533	2135
8512	1.51	220.9	531.0	9.1	795	8552	0.00	0.00	33.30	0.874	6	0.000	0.000	3417	2533	2036
8871	1.51	220.9	491.5	10.8	829	8875	0.00	2.62	0.00	0.000	4	0.000	0.086	3417	3895	2031
8902	1.51	220.9	487.8	11.4	831	8910	0.00	2.42	0.00	0.000	6	0.000	0.041	3417	2517	2031
9228	1.53	233.4	458.6	9.6	862	9249	0.00	0.00	16.90	0.851	6	0.000	0.000	3417	2517	1984
9567	1.54	246.4	426.0	9.5	894	9588	0.00	0.00	17.73	0.844	6	0.000	0.000	3417	2517	1931
9907	1.58	274.9	396.0	9.0	926	9947	0.00	0.00	37.72	0.857	6	0.000	0.000	3417	2517	1815
10265	1.63	313.4	365.0	8.7	960	10326	0.15	2.67	51.20	0.821	4	0.051	0.077	3459	3893	1658
10386	1.63	313.4	350.7	13.0	970	10390	0.00	2.42	0.00	0.000	6	0.000	0.041	3460	2517	1656
10710	1.63	313.4	303.3	16.0	1000	10714	0.00	2.62	0.00	0.000	4	0.000	0.075	3460	3897	1653
10761	1.63	313.4	295.4	15.6	1004	10766	0.00	2.40	0.00	0.000	6	0.000	0.040	3460	2525	1653
11086	1.63	313.4	248.0	13.7	1034	11087	0.00	0.00	0.00	0.000	6	0.000	0.000	3460	2523	1652
11404	1.63	313.4	209.5	11.2	1064	11409	0.00	2.58	0.00	0.000	4	0.000	0.070	3460	3898	1651
11448	1.63	313.4	203.7	13.7	1067	11456	0.00	2.40	0.00	0.000	6	0.000	0.037	3460	2526	1651
11773	1.63	313.4	161.2	13.7	1098	11778	0.00	2.45	0.00	0.000	4	0.000	0.044	3460	1133	1650
11839	1.63	313.4	152.3	12.7	1103	11847	0.00	2.47	0.00	0.000	6	0.000	0.038	3460	2532	1649
12164	1.63	313.4	115.9	11.1	1134	12169	0.00	2.50	0.00	0.000	4	0.000	0.066	3460	3893	1649
12216	1.63	313.4	109.9	11.5	1138	12220	0.00	2.33	0.00	0.000	6	0.000	0.034	3460	2526	1649
12541	1.63	319.6	74.3	9.8	1168	12554	0.00	2.45	6.93	0.536	4	0.000	0.041	3460	1125	1633
12604	1.64	325.2	68.0	9.8	1173	12623	0.00	2.47	9.40	0.558	6	0.000	0.035	3460	2527	1610
12941	1.71	382.7	35.1	8.0	1205	13024	0.00	2.53	73.50	0.569	4	0.000	0.061	3459	3887	1375
13096	1.71	382.7	20.1	12.6	1218	13104	0.00	2.35	0.00	0.000	6	0.000	0.030	3460	2519	1373
13252	end climb: SURFACE_DEPTH_REACHED
state	13252	begin surface coast
13303	end surface coast: CONTROL_FINISHED_OK
state	13303	begin surface