Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 51 * 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 51 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -107406.2 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 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 -107406.2

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 175 R_STBD_OVSHOOT 32 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 51 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 061543,2154.541,-15942.685,12,1.6,29,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 8 KALMAN_CONTROL 0.252,-0.120

_XMS_TOUTs 0 KALMAN_X -55252.3,-1444.0,-69.3,59262.1,-1215.3

_SM_DEPTHo 1.17 KALMAN_Y 16890.8,948.6,143.8,-19973.4,402.8

_SM_ANGLEo -57.2 MHEAD_RNG_PITCHd_Wd 105.7,5053,-16.8,-10.000

GPS2 062413,2154.636,-15942.863,15,1.6,32,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.5,1.011848 MM_CLLLayer 0.03

SM_CCo 12464,0.00,0.000,0,0,1020,465.09 MM_CfgFile 0.30

SM_GC 1.32,11.15,0.00,0.00,0.028,0.000,0.000,406,1958,1020,-9.77,-0.28,465.09 _24V_AH 23.5,14.425

IRIDIUM_FIX 2143.45,-15943.76,281098,040401 _10V_AH 10.0,6.229

TT8_MAMPS 0.057525 DATA_FILE_SIZE 37817,1164

HUMID 2015 CAP_FILE_SIZE 118651,0

INTERNAL_PRESSURE 7.51005 CFSIZE 260165632,252506112

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 030809,095401,2153.880,-15941.271,40,1.2,40,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 176 104.88 SBE_CT 820 24 462.74

Roll_motor 106 88 221.74 nil 0 0 0.00

VBD_pump_during_apogee 570 1085 14554.88 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 23 103 56.65 nil 0 0 0.00

Iridium_during_connect 29 160 110.43 GUMSTIX 206 1000 4854.79

Iridium_during_xfer 302 223 1583.44

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 378 1000 8895.13

GPS 32 50 16.11

TT8 2149 18 386.99

LPSleep 7546 0 29.43

TT8_Active 629 18 113.28

TT8_Sampling 1985 38 754.51

TT8_CF8 670 44 295.13

TT8_Kalman 33 80 26.67

Analog_circuits 1678 12 201.40

GPS_charging 0 0 0.00

Compass 1915 8 153.21

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 -1.50 -170.3 0.0 0.0 0 93 0.00 0.00 -73.00 0.000 2 0.000 0.000 402 1982 3177

96 -1.50 -170.3 3.1 -5.2 12 123 10.68 2.58 -8.38 0.000 4 0.176 0.071 2210 566 3615

152 -1.50 -170.3 17.2 -20.6 21 159 0.00 2.40 0.00 0.000 6 0.000 0.030 2210 1986 3615

224 -1.50 -170.3 31.5 -20.6 29 225 0.00 0.00 0.00 0.000 6 0.000 0.000 2211 1989 3615

415 -1.50 -170.3 67.1 -17.8 47 417 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1989 3616

734 -1.50 -170.3 110.7 -13.8 77 735 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1989 3618

1053 -1.50 -170.3 155.1 -14.2 107 1057 0.00 2.58 0.00 0.000 4 0.000 0.061 2210 563 3619

1080 -1.50 -170.3 158.9 -14.1 109 1085 0.00 2.38 0.00 0.000 6 0.000 0.033 2210 1966 3619

1407 -1.50 -170.3 200.9 -12.2 139 1411 0.00 2.50 0.00 0.000 4 0.000 0.056 2210 3366 3620

1457 -1.50 -170.3 207.8 -13.6 143 1461 0.00 2.42 0.00 0.000 6 0.000 0.038 2211 1959 3620

1783 -1.50 -170.3 241.3 -10.1 173 1784 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1959 3620

2100 -1.50 -170.3 276.8 -12.1 203 2101 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1959 3620

2419 -1.50 -170.3 313.7 -12.7 233 2423 0.00 2.58 0.00 0.000 4 0.000 0.063 2210 3367 3620

2486 -1.50 -170.3 322.6 -13.5 238 2493 0.00 2.45 0.00 0.000 6 0.000 0.042 2210 1970 3619

2812 -1.50 -170.3 364.2 -12.2 269 2813 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1970 3617

3129 -1.50 -170.3 402.8 -10.5 299 3130 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1969 3614

3448 -1.50 -170.3 435.6 -11.4 329 3452 0.00 2.58 0.00 0.000 4 0.000 0.067 2210 3367 3611

3487 -1.50 -170.3 439.9 -11.5 332 3491 0.00 2.47 0.00 0.000 6 0.000 0.045 2210 1964 3611

3814 -1.50 -170.3 473.2 -9.4 362 3818 0.00 2.58 0.00 0.000 4 0.000 0.066 2210 3362 3608

3876 -1.50 -170.3 479.7 -10.6 367 3880 0.00 2.45 0.00 0.000 6 0.000 0.046 2210 1972 3607

4202 -1.50 -170.3 512.0 -9.5 397 4203 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1971 3604

4519 -1.50 -170.3 542.8 -10.2 427 4524 0.00 2.65 0.00 0.000 4 0.000 0.079 2210 566 3602

4581 -1.50 -170.3 550.1 -11.5 432 4586 0.00 2.45 0.00 0.000 6 0.000 0.043 2210 1969 3601

4908 -1.50 -170.3 583.1 -9.2 462 4912 0.00 2.58 0.00 0.000 4 0.000 0.070 2210 3367 3599

4997 -1.50 -170.3 591.9 -8.8 469 5004 0.00 2.50 0.00 0.000 6 0.000 0.048 2210 1962 3598

5324 -1.50 -170.3 622.1 -9.1 500 5325 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1962 3595

5640 -1.50 -170.3 654.3 -10.7 530 5641 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 1962 3593

5691 end dive: TARGET_DEPTH_EXCEEDED

state 5691 begin apogee

5696 -0.38 0.0 660.1 10.8 535 5855 1.23 0.00 150.68 1.085 6 0.102 0.000 2452 1961 2917

5856 end apogee: CONTROL_FINISHED_OK

state 5856 begin climb

5858 1.50 170.3 667.6 0.0 551 6021 1.95 0.00 156.57 1.041 6 0.068 0.000 2872 1961 2223

6338 1.56 218.6 636.0 8.1 596 6388 0.00 2.75 44.55 1.011 4 0.000 0.071 2872 3397 2024

6423 1.60 245.6 629.1 8.9 603 6458 0.00 2.55 26.20 0.983 6 0.000 0.049 2872 1992 1914

6775 1.60 245.6 594.2 10.6 636 6779 0.00 2.65 0.00 0.000 4 0.000 0.069 2871 3394 1906

6807 1.60 245.6 590.4 10.8 638 6814 0.00 2.53 0.00 0.000 6 0.000 0.048 2872 1993 1905

7134 1.60 245.6 555.2 10.1 669 7138 0.00 2.62 0.00 0.000 4 0.000 0.069 2872 3396 1903

7218 1.60 245.6 545.7 11.9 676 7222 0.00 2.53 0.00 0.000 6 0.000 0.048 2872 1991 1903

7544 1.60 247.4 509.3 9.9 706 7545 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 1991 1902

7862 1.66 293.0 482.7 8.2 736 7912 0.12 2.72 42.35 0.983 4 0.054 0.069 2905 3394 1722

7952 1.66 293.0 474.1 10.0 744 7956 0.00 2.53 0.00 0.000 6 0.000 0.048 2905 1994 1719

8278 1.66 293.0 437.9 11.6 774 8280 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 1994 1713

8595 1.66 293.0 398.8 12.6 804 8599 0.00 2.62 0.00 0.000 4 0.000 0.069 2905 3395 1712

8702 1.66 293.0 385.0 12.7 813 8706 0.00 2.53 0.00 0.000 6 0.000 0.048 2905 1988 1711

9028 1.70 332.5 351.0 8.4 843 9074 0.00 2.78 35.22 0.904 4 0.000 0.080 2905 588 1560

9097 1.71 339.1 344.5 9.7 849 9110 0.00 2.50 7.28 0.759 6 0.000 0.043 2905 1999 1534

9427 1.71 339.1 309.6 10.8 880 9431 0.00 2.60 0.00 0.000 4 0.000 0.067 2905 3394 1529

9511 1.71 339.1 300.1 11.0 887 9515 0.00 2.53 0.00 0.000 6 0.000 0.047 2905 1986 1528

9837 1.71 339.1 262.6 10.9 917 9841 0.00 2.60 0.00 0.000 4 0.000 0.062 2905 3391 1526

9865 1.71 339.1 259.4 11.0 919 9869 0.00 2.50 0.00 0.000 6 0.000 0.044 2905 1986 1527

10191 1.71 339.1 224.2 10.4 949 10196 0.00 2.62 0.00 0.000 4 0.000 0.074 2905 587 1526

10214 1.71 339.1 221.4 12.0 950 10221 0.00 2.47 0.00 0.000 6 0.000 0.038 2905 2004 1525

10541 1.72 346.2 187.7 9.7 981 10553 0.00 2.55 6.45 0.652 4 0.000 0.061 2905 3394 1505

10581 1.72 346.2 183.1 10.8 984 10588 0.00 2.50 0.00 0.000 6 0.000 0.041 2905 1984 1504

10908 1.72 346.2 148.4 11.4 1015 10912 0.00 2.62 0.00 0.000 4 0.000 0.067 2905 584 1503

10936 1.72 346.2 145.1 12.4 1017 10940 0.00 2.45 0.00 0.000 6 0.000 0.036 2906 1999 1503

11260 1.72 346.2 111.9 10.4 1047 11264 0.00 2.50 0.00 0.000 4 0.000 0.057 2905 3386 1502

11311 1.72 346.2 106.3 11.2 1051 11315 0.00 2.42 0.00 0.000 6 0.000 0.038 2905 1992 1503

11637 1.77 382.5 76.0 8.6 1081 11672 0.00 0.00 32.58 0.637 6 0.000 0.000 2907 1992 1357

11988 1.86 462.7 45.2 6.8 1114 12068 0.17 2.67 68.80 0.591 4 0.038 0.064 2966 593 1028

12141 1.86 462.7 27.6 12.2 1127 12148 0.00 2.42 0.00 0.000 6 0.000 0.032 2966 2007 1026

12347 1.86 462.7 3.7 10.8 1158 12353 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 2011 1024

12363 end climb: SURFACE_DEPTH_REACHED

state 12363 begin surface coast

12381 end surface coast: CONTROL_FINISHED_OK

state 12381 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	51	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-107406.2	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	061543,2154.541,-15942.685,12,1.6,29,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	8	KALMAN_CONTROL	0.252,-0.120
_XMS_TOUTs	0	KALMAN_X	-55252.3,-1444.0,-69.3,59262.1,-1215.3
_SM_DEPTHo	1.17	KALMAN_Y	16890.8,948.6,143.8,-19973.4,402.8
_SM_ANGLEo	-57.2	MHEAD_RNG_PITCHd_Wd	105.7,5053,-16.8,-10.000
GPS2	062413,2154.636,-15942.863,15,1.6,32,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.5,1.011848	MM_CLLLayer	0.03
SM_CCo	12464,0.00,0.000,0,0,1020,465.09	MM_CfgFile	0.30
SM_GC	1.32,11.15,0.00,0.00,0.028,0.000,0.000,406,1958,1020,-9.77,-0.28,465.09	_24V_AH	23.5,14.425
IRIDIUM_FIX	2143.45,-15943.76,281098,040401	_10V_AH	10.0,6.229
TT8_MAMPS	0.057525	DATA_FILE_SIZE	37817,1164
HUMID	2015	CAP_FILE_SIZE	118651,0
INTERNAL_PRESSURE	7.51005	CFSIZE	260165632,252506112
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	030809,095401,2153.880,-15941.271,40,1.2,40,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	176	104.88	SBE_CT	820	24	462.74
Roll_motor	106	88	221.74	nil	0	0	0.00
VBD_pump_during_apogee	570	1085	14554.88	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	23	103	56.65	nil	0	0	0.00
Iridium_during_connect	29	160	110.43	GUMSTIX	206	1000	4854.79
Iridium_during_xfer	302	223	1583.44
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	378	1000	8895.13
GPS	32	50	16.11
TT8	2149	18	386.99
LPSleep	7546	0	29.43
TT8_Active	629	18	113.28
TT8_Sampling	1985	38	754.51
TT8_CF8	670	44	295.13
TT8_Kalman	33	80	26.67
Analog_circuits	1678	12	201.40
GPS_charging	0	0	0.00
Compass	1915	8	153.21
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	-1.50	-170.3	0.0	0.0	0	93	0.00	0.00	-73.00	0.000	2	0.000	0.000	402	1982	3177
96	-1.50	-170.3	3.1	-5.2	12	123	10.68	2.58	-8.38	0.000	4	0.176	0.071	2210	566	3615
152	-1.50	-170.3	17.2	-20.6	21	159	0.00	2.40	0.00	0.000	6	0.000	0.030	2210	1986	3615
224	-1.50	-170.3	31.5	-20.6	29	225	0.00	0.00	0.00	0.000	6	0.000	0.000	2211	1989	3615
415	-1.50	-170.3	67.1	-17.8	47	417	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1989	3616
734	-1.50	-170.3	110.7	-13.8	77	735	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1989	3618
1053	-1.50	-170.3	155.1	-14.2	107	1057	0.00	2.58	0.00	0.000	4	0.000	0.061	2210	563	3619
1080	-1.50	-170.3	158.9	-14.1	109	1085	0.00	2.38	0.00	0.000	6	0.000	0.033	2210	1966	3619
1407	-1.50	-170.3	200.9	-12.2	139	1411	0.00	2.50	0.00	0.000	4	0.000	0.056	2210	3366	3620
1457	-1.50	-170.3	207.8	-13.6	143	1461	0.00	2.42	0.00	0.000	6	0.000	0.038	2211	1959	3620
1783	-1.50	-170.3	241.3	-10.1	173	1784	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1959	3620
2100	-1.50	-170.3	276.8	-12.1	203	2101	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1959	3620
2419	-1.50	-170.3	313.7	-12.7	233	2423	0.00	2.58	0.00	0.000	4	0.000	0.063	2210	3367	3620
2486	-1.50	-170.3	322.6	-13.5	238	2493	0.00	2.45	0.00	0.000	6	0.000	0.042	2210	1970	3619
2812	-1.50	-170.3	364.2	-12.2	269	2813	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1970	3617
3129	-1.50	-170.3	402.8	-10.5	299	3130	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1969	3614
3448	-1.50	-170.3	435.6	-11.4	329	3452	0.00	2.58	0.00	0.000	4	0.000	0.067	2210	3367	3611
3487	-1.50	-170.3	439.9	-11.5	332	3491	0.00	2.47	0.00	0.000	6	0.000	0.045	2210	1964	3611
3814	-1.50	-170.3	473.2	-9.4	362	3818	0.00	2.58	0.00	0.000	4	0.000	0.066	2210	3362	3608
3876	-1.50	-170.3	479.7	-10.6	367	3880	0.00	2.45	0.00	0.000	6	0.000	0.046	2210	1972	3607
4202	-1.50	-170.3	512.0	-9.5	397	4203	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1971	3604
4519	-1.50	-170.3	542.8	-10.2	427	4524	0.00	2.65	0.00	0.000	4	0.000	0.079	2210	566	3602
4581	-1.50	-170.3	550.1	-11.5	432	4586	0.00	2.45	0.00	0.000	6	0.000	0.043	2210	1969	3601
4908	-1.50	-170.3	583.1	-9.2	462	4912	0.00	2.58	0.00	0.000	4	0.000	0.070	2210	3367	3599
4997	-1.50	-170.3	591.9	-8.8	469	5004	0.00	2.50	0.00	0.000	6	0.000	0.048	2210	1962	3598
5324	-1.50	-170.3	622.1	-9.1	500	5325	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1962	3595
5640	-1.50	-170.3	654.3	-10.7	530	5641	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	1962	3593
5691	end dive: TARGET_DEPTH_EXCEEDED
state	5691	begin apogee
5696	-0.38	0.0	660.1	10.8	535	5855	1.23	0.00	150.68	1.085	6	0.102	0.000	2452	1961	2917
5856	end apogee: CONTROL_FINISHED_OK
state	5856	begin climb
5858	1.50	170.3	667.6	0.0	551	6021	1.95	0.00	156.57	1.041	6	0.068	0.000	2872	1961	2223
6338	1.56	218.6	636.0	8.1	596	6388	0.00	2.75	44.55	1.011	4	0.000	0.071	2872	3397	2024
6423	1.60	245.6	629.1	8.9	603	6458	0.00	2.55	26.20	0.983	6	0.000	0.049	2872	1992	1914
6775	1.60	245.6	594.2	10.6	636	6779	0.00	2.65	0.00	0.000	4	0.000	0.069	2871	3394	1906
6807	1.60	245.6	590.4	10.8	638	6814	0.00	2.53	0.00	0.000	6	0.000	0.048	2872	1993	1905
7134	1.60	245.6	555.2	10.1	669	7138	0.00	2.62	0.00	0.000	4	0.000	0.069	2872	3396	1903
7218	1.60	245.6	545.7	11.9	676	7222	0.00	2.53	0.00	0.000	6	0.000	0.048	2872	1991	1903
7544	1.60	247.4	509.3	9.9	706	7545	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	1991	1902
7862	1.66	293.0	482.7	8.2	736	7912	0.12	2.72	42.35	0.983	4	0.054	0.069	2905	3394	1722
7952	1.66	293.0	474.1	10.0	744	7956	0.00	2.53	0.00	0.000	6	0.000	0.048	2905	1994	1719
8278	1.66	293.0	437.9	11.6	774	8280	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	1994	1713
8595	1.66	293.0	398.8	12.6	804	8599	0.00	2.62	0.00	0.000	4	0.000	0.069	2905	3395	1712
8702	1.66	293.0	385.0	12.7	813	8706	0.00	2.53	0.00	0.000	6	0.000	0.048	2905	1988	1711
9028	1.70	332.5	351.0	8.4	843	9074	0.00	2.78	35.22	0.904	4	0.000	0.080	2905	588	1560
9097	1.71	339.1	344.5	9.7	849	9110	0.00	2.50	7.28	0.759	6	0.000	0.043	2905	1999	1534
9427	1.71	339.1	309.6	10.8	880	9431	0.00	2.60	0.00	0.000	4	0.000	0.067	2905	3394	1529
9511	1.71	339.1	300.1	11.0	887	9515	0.00	2.53	0.00	0.000	6	0.000	0.047	2905	1986	1528
9837	1.71	339.1	262.6	10.9	917	9841	0.00	2.60	0.00	0.000	4	0.000	0.062	2905	3391	1526
9865	1.71	339.1	259.4	11.0	919	9869	0.00	2.50	0.00	0.000	6	0.000	0.044	2905	1986	1527
10191	1.71	339.1	224.2	10.4	949	10196	0.00	2.62	0.00	0.000	4	0.000	0.074	2905	587	1526
10214	1.71	339.1	221.4	12.0	950	10221	0.00	2.47	0.00	0.000	6	0.000	0.038	2905	2004	1525
10541	1.72	346.2	187.7	9.7	981	10553	0.00	2.55	6.45	0.652	4	0.000	0.061	2905	3394	1505
10581	1.72	346.2	183.1	10.8	984	10588	0.00	2.50	0.00	0.000	6	0.000	0.041	2905	1984	1504
10908	1.72	346.2	148.4	11.4	1015	10912	0.00	2.62	0.00	0.000	4	0.000	0.067	2905	584	1503
10936	1.72	346.2	145.1	12.4	1017	10940	0.00	2.45	0.00	0.000	6	0.000	0.036	2906	1999	1503
11260	1.72	346.2	111.9	10.4	1047	11264	0.00	2.50	0.00	0.000	4	0.000	0.057	2905	3386	1502
11311	1.72	346.2	106.3	11.2	1051	11315	0.00	2.42	0.00	0.000	6	0.000	0.038	2905	1992	1503
11637	1.77	382.5	76.0	8.6	1081	11672	0.00	0.00	32.58	0.637	6	0.000	0.000	2907	1992	1357
11988	1.86	462.7	45.2	6.8	1114	12068	0.17	2.67	68.80	0.591	4	0.038	0.064	2966	593	1028
12141	1.86	462.7	27.6	12.2	1127	12148	0.00	2.42	0.00	0.000	6	0.000	0.032	2966	2007	1026
12347	1.86	462.7	3.7	10.8	1158	12353	0.00	0.00	0.00	0.000	6	0.000	0.000	2966	2011	1024
12363	end climb: SURFACE_DEPTH_REACHED
state	12363	begin surface coast
12381	end surface coast: CONTROL_FINISHED_OK
state	12381	begin surface