Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 50 * 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 50 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 270 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 90 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 115 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 -107373.35 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 175 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 270 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 90

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 -107373.35

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 115

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 37 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 175 R_STBD_OVSHOOT 37 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 50 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 044006,2154.561,-15942.754,35,1.3,35,9.8 TGT_LATLONG 2154.185,-15941.805

_CALLS 1 TGT_RADIUS 400.000

_XMS_NAKs 0 KALMAN_CONTROL 0.245,-0.134

_XMS_TOUTs 0 KALMAN_X -53764.6,-1577.1,-179.4,57969.1,-519.8

_SM_DEPTHo 1.16 KALMAN_Y 16065.6,988.8,252.3,-19265.2,348.6

_SM_ANGLEo -55.5 MHEAD_RNG_PITCHd_Wd 108.8,2049,-16.8,-10.000

GPS2 044750,2154.649,-15942.887,13,1.8,13,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobNE

Post-dive calculations and measurements:

FINISH 0.4,0.999364 MM_CLLLayer 0.03

SM_CCo 5160,0.00,0.000,0,0,1273,403.27 MM_CfgFile 0.30

SM_GC 1.28,10.88,0.00,0.00,0.026,0.000,0.000,402,1981,1273,-9.77,0.31,403.27 _24V_AH 24.0,14.147

IRIDIUM_FIX 2145.77,-15940.77,281098,030339 _10V_AH 10.2,6.111

TT8_MAMPS 0.06136 DATA_FILE_SIZE 15889,493

HUMID 1924 CAP_FILE_SIZE 59655,0

INTERNAL_PRESSURE 7.62725 CFSIZE 260165632,252661760

TCM_TEMP 25.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 030809,061543,2154.541,-15942.685,12,1.6,29,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 177 105.24 SBE_CT 331 24 190.98

Roll_motor 59 69 99.67 nil 0 0 0.00

VBD_pump_during_apogee 473 686 7801.81 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 30 103 76.52 nil 0 0 0.00

Iridium_during_connect 26 160 101.35 GUMSTIX 81 1000 1946.62

Iridium_during_xfer 265 223 1421.31

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 139 1000 3351.62

GPS 13 50 6.83

TT8 905 18 166.26

LPSleep 2799 0 11.14

TT8_Active 518 18 95.12

TT8_Sampling 904 38 350.54

TT8_CF8 505 44 226.81

TT8_Kalman 33 80 27.22

Analog_circuits 1041 12 127.49

GPS_charging 0 0 0.00

Compass 865 8 70.65

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.50 -170.3 0.0 0.0 0 98 0.00 0.00 -79.30 0.000 2 0.000 0.000 406 1953 3183

102 -1.50 -170.3 3.1 -5.9 13 129 10.65 2.50 -8.10 0.000 4 0.177 0.070 2208 575 3615

231 -1.50 -170.3 30.7 -17.6 30 235 0.00 2.35 0.00 0.000 6 0.000 0.030 2208 1976 3617

433 -1.50 -170.3 66.1 -18.5 49 438 0.00 2.45 0.00 0.000 4 0.000 0.051 2208 3365 3617

473 -1.50 -170.3 73.9 -19.6 52 477 0.00 2.38 0.00 0.000 6 0.000 0.034 2208 1975 3617

799 -1.50 -170.3 120.6 -12.7 82 803 0.00 2.45 0.00 0.000 4 0.000 0.050 2209 3362 3619

839 -1.50 -170.3 126.7 -14.9 85 843 0.00 2.38 0.00 0.000 6 0.000 0.034 2208 1970 3619

1165 -1.50 -170.3 168.7 -12.3 115 1169 0.00 2.55 0.00 0.000 4 0.000 0.064 2208 562 3621

1260 -1.50 -170.3 180.1 -11.9 123 1265 0.00 2.38 0.00 0.000 6 0.000 0.033 2208 1964 3621

1588 -1.50 -170.3 219.4 -12.5 153 1592 0.00 2.50 0.00 0.000 4 0.000 0.056 2208 3369 3621

1676 -1.50 -170.3 231.2 -13.0 160 1683 0.00 2.42 0.00 0.000 6 0.000 0.038 2208 1960 3621

1967 end dive: TARGET_DEPTH_EXCEEDED

state 1967 begin apogee

1973 -0.38 0.0 270.3 12.5 188 2121 1.20 0.00 139.82 0.686 6 0.095 0.000 2452 1960 2916

2122 end apogee: CONTROL_FINISHED_OK

state 2122 begin climb

2125 1.50 170.3 276.9 0.0 203 2277 1.90 2.62 138.50 0.672 4 0.058 0.068 2876 596 2221

2295 1.61 259.1 269.8 6.5 219 2375 0.00 2.45 73.75 0.661 6 0.000 0.037 2875 2003 1860

2694 1.65 291.9 236.3 8.7 256 2729 0.12 2.60 27.65 0.650 4 0.047 0.065 2922 3397 1726

2798 1.65 291.9 225.2 10.9 265 2802 0.00 2.47 0.00 0.000 6 0.000 0.041 2922 1993 1723

3125 1.65 291.9 189.5 10.5 295 3127 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1993 1719

3441 1.65 291.9 154.6 10.1 325 3445 0.00 2.55 0.00 0.000 4 0.000 0.057 2922 3401 1716

3529 1.65 291.9 145.2 10.7 332 3536 0.00 2.45 0.00 0.000 6 0.000 0.038 2923 1992 1715

3856 1.65 291.9 111.6 10.6 363 3860 0.00 2.58 0.00 0.000 4 0.000 0.066 2922 587 1713

3877 1.65 291.9 108.8 12.2 364 3884 0.00 2.42 0.00 0.000 6 0.000 0.035 2922 2004 1713

4204 1.67 305.3 76.0 9.5 395 4219 0.00 2.62 10.18 0.548 4 0.000 0.062 2922 588 1672

4276 1.70 329.7 69.0 9.0 401 4305 0.00 2.42 22.17 0.575 6 0.000 0.035 2922 2002 1572

4623 1.78 393.5 41.4 7.5 434 4683 0.00 2.58 53.72 0.555 4 0.000 0.056 2922 3390 1312

4794 1.78 393.5 26.0 10.4 449 4798 0.00 2.42 0.00 0.000 6 0.000 0.035 2922 1987 1308

5001 1.79 402.1 6.9 9.7 480 5015 0.00 2.55 7.75 0.450 4 0.000 0.062 2922 592 1276

5053 end climb: SURFACE_DEPTH_REACHED

state 5053 begin surface coast

5076 end surface coast: CONTROL_FINISHED_OK

state 5076 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	50	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	270	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	90	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	115	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	-107373.35	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	175	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	044006,2154.561,-15942.754,35,1.3,35,9.8	TGT_LATLONG	2154.185,-15941.805
_CALLS	1	TGT_RADIUS	400.000
_XMS_NAKs	0	KALMAN_CONTROL	0.245,-0.134
_XMS_TOUTs	0	KALMAN_X	-53764.6,-1577.1,-179.4,57969.1,-519.8
_SM_DEPTHo	1.16	KALMAN_Y	16065.6,988.8,252.3,-19265.2,348.6
_SM_ANGLEo	-55.5	MHEAD_RNG_PITCHd_Wd	108.8,2049,-16.8,-10.000
GPS2	044750,2154.649,-15942.887,13,1.8,13,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobNE

FINISH	0.4,0.999364	MM_CLLLayer	0.03
SM_CCo	5160,0.00,0.000,0,0,1273,403.27	MM_CfgFile	0.30
SM_GC	1.28,10.88,0.00,0.00,0.026,0.000,0.000,402,1981,1273,-9.77,0.31,403.27	_24V_AH	24.0,14.147
IRIDIUM_FIX	2145.77,-15940.77,281098,030339	_10V_AH	10.2,6.111
TT8_MAMPS	0.06136	DATA_FILE_SIZE	15889,493
HUMID	1924	CAP_FILE_SIZE	59655,0
INTERNAL_PRESSURE	7.62725	CFSIZE	260165632,252661760
TCM_TEMP	25.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	030809,061543,2154.541,-15942.685,12,1.6,29,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	177	105.24	SBE_CT	331	24	190.98
Roll_motor	59	69	99.67	nil	0	0	0.00
VBD_pump_during_apogee	473	686	7801.81	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	30	103	76.52	nil	0	0	0.00
Iridium_during_connect	26	160	101.35	GUMSTIX	81	1000	1946.62
Iridium_during_xfer	265	223	1421.31
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	139	1000	3351.62
GPS	13	50	6.83
TT8	905	18	166.26
LPSleep	2799	0	11.14
TT8_Active	518	18	95.12
TT8_Sampling	904	38	350.54
TT8_CF8	505	44	226.81
TT8_Kalman	33	80	27.22
Analog_circuits	1041	12	127.49
GPS_charging	0	0	0.00
Compass	865	8	70.65
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.50	-170.3	0.0	0.0	0	98	0.00	0.00	-79.30	0.000	2	0.000	0.000	406	1953	3183
102	-1.50	-170.3	3.1	-5.9	13	129	10.65	2.50	-8.10	0.000	4	0.177	0.070	2208	575	3615
231	-1.50	-170.3	30.7	-17.6	30	235	0.00	2.35	0.00	0.000	6	0.000	0.030	2208	1976	3617
433	-1.50	-170.3	66.1	-18.5	49	438	0.00	2.45	0.00	0.000	4	0.000	0.051	2208	3365	3617
473	-1.50	-170.3	73.9	-19.6	52	477	0.00	2.38	0.00	0.000	6	0.000	0.034	2208	1975	3617
799	-1.50	-170.3	120.6	-12.7	82	803	0.00	2.45	0.00	0.000	4	0.000	0.050	2209	3362	3619
839	-1.50	-170.3	126.7	-14.9	85	843	0.00	2.38	0.00	0.000	6	0.000	0.034	2208	1970	3619
1165	-1.50	-170.3	168.7	-12.3	115	1169	0.00	2.55	0.00	0.000	4	0.000	0.064	2208	562	3621
1260	-1.50	-170.3	180.1	-11.9	123	1265	0.00	2.38	0.00	0.000	6	0.000	0.033	2208	1964	3621
1588	-1.50	-170.3	219.4	-12.5	153	1592	0.00	2.50	0.00	0.000	4	0.000	0.056	2208	3369	3621
1676	-1.50	-170.3	231.2	-13.0	160	1683	0.00	2.42	0.00	0.000	6	0.000	0.038	2208	1960	3621
1967	end dive: TARGET_DEPTH_EXCEEDED
state	1967	begin apogee
1973	-0.38	0.0	270.3	12.5	188	2121	1.20	0.00	139.82	0.686	6	0.095	0.000	2452	1960	2916
2122	end apogee: CONTROL_FINISHED_OK
state	2122	begin climb
2125	1.50	170.3	276.9	0.0	203	2277	1.90	2.62	138.50	0.672	4	0.058	0.068	2876	596	2221
2295	1.61	259.1	269.8	6.5	219	2375	0.00	2.45	73.75	0.661	6	0.000	0.037	2875	2003	1860
2694	1.65	291.9	236.3	8.7	256	2729	0.12	2.60	27.65	0.650	4	0.047	0.065	2922	3397	1726
2798	1.65	291.9	225.2	10.9	265	2802	0.00	2.47	0.00	0.000	6	0.000	0.041	2922	1993	1723
3125	1.65	291.9	189.5	10.5	295	3127	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1993	1719
3441	1.65	291.9	154.6	10.1	325	3445	0.00	2.55	0.00	0.000	4	0.000	0.057	2922	3401	1716
3529	1.65	291.9	145.2	10.7	332	3536	0.00	2.45	0.00	0.000	6	0.000	0.038	2923	1992	1715
3856	1.65	291.9	111.6	10.6	363	3860	0.00	2.58	0.00	0.000	4	0.000	0.066	2922	587	1713
3877	1.65	291.9	108.8	12.2	364	3884	0.00	2.42	0.00	0.000	6	0.000	0.035	2922	2004	1713
4204	1.67	305.3	76.0	9.5	395	4219	0.00	2.62	10.18	0.548	4	0.000	0.062	2922	588	1672
4276	1.70	329.7	69.0	9.0	401	4305	0.00	2.42	22.17	0.575	6	0.000	0.035	2922	2002	1572
4623	1.78	393.5	41.4	7.5	434	4683	0.00	2.58	53.72	0.555	4	0.000	0.056	2922	3390	1312
4794	1.78	393.5	26.0	10.4	449	4798	0.00	2.42	0.00	0.000	6	0.000	0.035	2922	1987	1308
5001	1.79	402.1	6.9	9.7	480	5015	0.00	2.55	7.75	0.450	4	0.000	0.062	2922	592	1276
5053	end climb: SURFACE_DEPTH_REACHED
state	5053	begin surface coast
5076	end surface coast: CONTROL_FINISHED_OK
state	5076	begin surface