Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 67 * 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 67 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 10 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 3050 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 400 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 47 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 46 INT_PRESSURE_YINT 1.4

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 325 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 110 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 145 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 DEVICE4 -1

T_TURN 300 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 -87349.359 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 225 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 400

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 330 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 110

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 -87349.359

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 145

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 325 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 118 ROLL_DEG 10 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 3050 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2500 MASS 51726 R_PORT_OVSHOOT 47 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 225 R_STBD_OVSHOOT 46 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 67 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 231110,2153.833,-15945.179,46,3.0,65,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 2 TGT_RADIUS 1000.000

_XMS_NAKs 16 KALMAN_CONTROL 0.305,-0.062

_XMS_TOUTs 0 KALMAN_X -114647.3,-731.6,-607.9,109795.9,-1819.9

_SM_DEPTHo 1.12 KALMAN_Y 47539.6,-305.3,-203.3,-50983.9,382.5

_SM_ANGLEo -58.7 MHEAD_RNG_PITCHd_Wd 91.7,9124,-14.7,-10.000

GPS2 232956,2153.958,-15945.562,16,1.6,16,9.8 D_GRID 330

SPEED_LIMITS 0.100,0.311 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.6,1.022807 MM_CLLLayer 0.03

SM_CCo 6062,14.73,0.410,0,0,1305,400.08 MM_CfgFile 0.30

SM_GC 1.22,0.00,0.00,14.73,0.000,0.000,0.410,418,2519,1305,-11.63,0.57,400.08 _24V_AH 24.1,26.707

IRIDIUM_FIX 2145.77,-15948.11,281098,232327 _10V_AH 10.1,28.441

TT8_MAMPS 0.059059 DATA_FILE_SIZE 15855,540

HUMID 1840 CAP_FILE_SIZE 224322,0

INTERNAL_PRESSURE 10.0722 CFSIZE -70647808,-97714176

TCM_TEMP 24.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

MM_GliderControlLayer 0.41 GPS 040809,011328,2153.967,-15945.358,13,99.0,32,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 82.38 SBE_CT 366 24 211.81

Roll_motor 16 43 17.89 nil 0 0 0.00

VBD_pump_during_apogee 455 671 7360.03 nil 0 0 0.00

VBD_pump_during_surface 14 410 145.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 134.17 nil 0 0 0.00

Iridium_during_connect 64 160 249.08 GUMSTIX 88 1000 2129.52

Iridium_during_xfer 683 223 3672.21

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 77 1000 1872.35

GPS 16 50 8.39

TT8 1136 18 206.53

LPSleep 2459 0 9.69

TT8_Active 519 18 94.43

TT8_Sampling 1286 38 493.58

TT8_CF8 1801 44 800.54

TT8_Kalman 33 80 26.94

Analog_circuits 1256 12 152.26

GPS_charging 0 0 0.00

Compass 1233 8 99.65

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

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

25 -1.74 -219.0 0.0 0.0 0 97 0.00 0.00 -69.85 0.000 2 0.000 0.000 421 2517 3306

104 -1.74 -219.0 4.1 -8.1 10 126 11.10 0.00 -7.78 0.000 6 0.126 0.000 2561 2517 3831

200 -1.74 -219.0 30.0 -18.4 21 204 0.00 0.47 0.00 0.000 4 0.000 0.032 2561 2865 3833

549 -1.74 -219.0 86.6 -13.4 51 556 0.00 0.52 0.00 0.000 6 0.000 0.032 2561 2499 3833

622 -1.74 -219.0 95.9 -12.8 58 626 0.00 0.50 0.00 0.000 4 0.000 0.031 2561 2860 3834

756 -1.74 -219.0 114.0 -13.7 69 760 0.00 0.52 0.00 0.000 6 0.000 0.033 2561 2496 3834

835 -1.74 -219.0 125.0 -12.5 76 841 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2496 3834

913 -1.74 -219.0 134.3 -12.9 83 920 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2496 3834

991 -1.74 -219.0 144.3 -12.9 90 998 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2496 3834

1071 -1.74 -219.0 154.8 -13.6 97 1077 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2496 3834

1149 -1.74 -219.0 165.6 -13.6 104 1155 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2495 3834

1227 -1.74 -219.0 175.5 -12.6 111 1234 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2496 3834

1307 -1.74 -219.0 185.2 -12.5 118 1310 0.00 0.52 0.00 0.000 4 0.000 0.033 2560 2866 3834

1664 -1.74 -219.0 227.4 -12.0 148 1671 0.00 0.52 0.00 0.000 6 0.000 0.036 2560 2504 3834

1743 -1.74 -219.0 237.0 -12.8 155 1746 0.00 0.50 0.00 0.000 4 0.000 0.036 2561 2857 3834

2100 -1.74 -219.0 282.7 -12.2 185 2107 0.00 0.52 0.00 0.000 6 0.000 0.038 2561 2504 3831

2174 -1.74 -219.0 292.2 -12.4 192 2177 0.00 0.50 0.00 0.000 4 0.000 0.038 2561 2852 3831

2487 end dive: TARGET_DEPTH_EXCEEDED

state 2487 begin apogee

2500 -0.50 0.0 330.3 12.0 219 2672 1.23 0.00 164.73 0.671 6 0.061 0.000 2832 3051 2936

2673 end apogee: CONTROL_FINISHED_OK

state 2673 begin climb

2679 1.74 219.0 339.2 0.0 236 2852 2.15 0.55 165.55 0.663 4 0.041 0.033 3332 2695 2044

3015 1.74 219.0 320.9 10.2 266 3022 0.00 0.52 0.00 0.000 6 0.000 0.039 3332 3044 2040

3221 1.74 219.0 300.9 10.2 285 3224 0.00 0.52 0.00 0.000 4 0.000 0.044 3332 3378 2037

3578 1.74 219.0 263.2 11.0 315 3585 0.00 0.52 0.00 0.000 6 0.000 0.030 3332 3022 2036

3652 1.75 224.6 255.4 9.8 322 3660 0.00 0.62 4.43 0.436 4 0.000 0.042 3332 3385 2021

3872 1.76 236.2 233.2 9.6 341 3886 0.00 0.50 10.62 0.564 6 0.000 0.031 3332 3061 1973

3951 1.78 249.0 225.7 9.6 348 3968 0.00 0.00 11.40 0.565 6 0.000 0.000 3332 3059 1919

4035 1.82 279.3 218.1 9.1 356 4063 0.00 0.00 25.15 0.600 6 0.000 0.000 3333 3059 1798

4129 1.89 341.2 210.3 8.1 365 4193 0.12 0.52 51.20 0.604 4 0.045 0.040 3374 3379 1544

4327 1.89 341.2 188.3 12.7 381 4331 0.00 0.50 0.00 0.000 6 0.000 0.030 3375 3041 1539

4406 1.89 341.2 177.6 12.7 388 4410 0.00 0.55 0.00 0.000 4 0.000 0.041 3375 3380 1538

4524 1.89 341.2 162.1 13.1 398 4527 0.00 0.47 0.00 0.000 6 0.000 0.029 3375 3053 1538

4603 1.89 341.2 151.9 12.4 405 4606 0.00 0.47 0.00 0.000 4 0.000 0.032 3375 2707 1537

4668 1.89 341.2 144.8 11.3 410 4671 0.00 0.50 0.00 0.000 6 0.000 0.038 3375 3049 1537

4747 1.89 341.2 135.0 12.4 417 4750 0.00 0.47 0.00 0.000 4 0.000 0.034 3375 2714 1536

4885 1.89 341.2 118.9 12.0 428 4892 0.00 0.50 0.00 0.000 6 0.000 0.036 3375 3054 1535

4964 1.89 341.2 109.4 12.6 435 4967 0.00 0.47 0.00 0.000 4 0.000 0.031 3375 2715 1535

5144 1.89 341.2 87.4 12.3 450 5151 0.00 0.50 0.00 0.000 6 0.000 0.035 3375 3058 1534

5222 1.89 341.2 79.1 11.4 457 5225 0.00 0.50 0.00 0.000 4 0.000 0.040 3375 3381 1534

5398 1.89 341.2 58.7 12.1 472 5402 0.00 0.47 0.00 0.000 6 0.000 0.028 3375 3049 1534

5478 1.93 368.8 51.2 9.2 479 5505 0.00 0.57 21.98 0.482 4 0.000 0.036 3374 3384 1432

5857 1.93 368.8 16.7 10.6 514 5864 0.00 0.47 0.00 0.000 6 0.000 0.027 3375 3048 1429

5945 1.93 368.8 8.8 10.1 527 5952 0.00 0.52 0.00 0.000 4 0.000 0.035 3374 3381 1428

5989 end climb: SURFACE_DEPTH_REACHED

state 5989 begin surface coast

6028 end surface coast: CONTROL_FINISHED_OK

state 6028 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	67	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	10	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	3050	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	400	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	47	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	46	INT_PRESSURE_YINT	1.4
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	325	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	110	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	145	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	DEVICE4	-1
T_TURN	300	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	-87349.359	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	225	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	231110,2153.833,-15945.179,46,3.0,65,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	2	TGT_RADIUS	1000.000
_XMS_NAKs	16	KALMAN_CONTROL	0.305,-0.062
_XMS_TOUTs	0	KALMAN_X	-114647.3,-731.6,-607.9,109795.9,-1819.9
_SM_DEPTHo	1.12	KALMAN_Y	47539.6,-305.3,-203.3,-50983.9,382.5
_SM_ANGLEo	-58.7	MHEAD_RNG_PITCHd_Wd	91.7,9124,-14.7,-10.000
GPS2	232956,2153.958,-15945.562,16,1.6,16,9.8	D_GRID	330
SPEED_LIMITS	0.100,0.311	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.6,1.022807	MM_CLLLayer	0.03
SM_CCo	6062,14.73,0.410,0,0,1305,400.08	MM_CfgFile	0.30
SM_GC	1.22,0.00,0.00,14.73,0.000,0.000,0.410,418,2519,1305,-11.63,0.57,400.08	_24V_AH	24.1,26.707
IRIDIUM_FIX	2145.77,-15948.11,281098,232327	_10V_AH	10.1,28.441
TT8_MAMPS	0.059059	DATA_FILE_SIZE	15855,540
HUMID	1840	CAP_FILE_SIZE	224322,0
INTERNAL_PRESSURE	10.0722	CFSIZE	-70647808,-97714176
TCM_TEMP	24.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
MM_GliderControlLayer	0.41	GPS	040809,011328,2153.967,-15945.358,13,99.0,32,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	82.38	SBE_CT	366	24	211.81
Roll_motor	16	43	17.89	nil	0	0	0.00
VBD_pump_during_apogee	455	671	7360.03	nil	0	0	0.00
VBD_pump_during_surface	14	410	145.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	134.17	nil	0	0	0.00
Iridium_during_connect	64	160	249.08	GUMSTIX	88	1000	2129.52
Iridium_during_xfer	683	223	3672.21
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	77	1000	1872.35
GPS	16	50	8.39
TT8	1136	18	206.53
LPSleep	2459	0	9.69
TT8_Active	519	18	94.43
TT8_Sampling	1286	38	493.58
TT8_CF8	1801	44	800.54
TT8_Kalman	33	80	26.94
Analog_circuits	1256	12	152.26
GPS_charging	0	0	0.00
Compass	1233	8	99.65
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
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
25	-1.74	-219.0	0.0	0.0	0	97	0.00	0.00	-69.85	0.000	2	0.000	0.000	421	2517	3306
104	-1.74	-219.0	4.1	-8.1	10	126	11.10	0.00	-7.78	0.000	6	0.126	0.000	2561	2517	3831
200	-1.74	-219.0	30.0	-18.4	21	204	0.00	0.47	0.00	0.000	4	0.000	0.032	2561	2865	3833
549	-1.74	-219.0	86.6	-13.4	51	556	0.00	0.52	0.00	0.000	6	0.000	0.032	2561	2499	3833
622	-1.74	-219.0	95.9	-12.8	58	626	0.00	0.50	0.00	0.000	4	0.000	0.031	2561	2860	3834
756	-1.74	-219.0	114.0	-13.7	69	760	0.00	0.52	0.00	0.000	6	0.000	0.033	2561	2496	3834
835	-1.74	-219.0	125.0	-12.5	76	841	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2496	3834
913	-1.74	-219.0	134.3	-12.9	83	920	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2496	3834
991	-1.74	-219.0	144.3	-12.9	90	998	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2496	3834
1071	-1.74	-219.0	154.8	-13.6	97	1077	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2496	3834
1149	-1.74	-219.0	165.6	-13.6	104	1155	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2495	3834
1227	-1.74	-219.0	175.5	-12.6	111	1234	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2496	3834
1307	-1.74	-219.0	185.2	-12.5	118	1310	0.00	0.52	0.00	0.000	4	0.000	0.033	2560	2866	3834
1664	-1.74	-219.0	227.4	-12.0	148	1671	0.00	0.52	0.00	0.000	6	0.000	0.036	2560	2504	3834
1743	-1.74	-219.0	237.0	-12.8	155	1746	0.00	0.50	0.00	0.000	4	0.000	0.036	2561	2857	3834
2100	-1.74	-219.0	282.7	-12.2	185	2107	0.00	0.52	0.00	0.000	6	0.000	0.038	2561	2504	3831
2174	-1.74	-219.0	292.2	-12.4	192	2177	0.00	0.50	0.00	0.000	4	0.000	0.038	2561	2852	3831
2487	end dive: TARGET_DEPTH_EXCEEDED
state	2487	begin apogee
2500	-0.50	0.0	330.3	12.0	219	2672	1.23	0.00	164.73	0.671	6	0.061	0.000	2832	3051	2936
2673	end apogee: CONTROL_FINISHED_OK
state	2673	begin climb
2679	1.74	219.0	339.2	0.0	236	2852	2.15	0.55	165.55	0.663	4	0.041	0.033	3332	2695	2044
3015	1.74	219.0	320.9	10.2	266	3022	0.00	0.52	0.00	0.000	6	0.000	0.039	3332	3044	2040
3221	1.74	219.0	300.9	10.2	285	3224	0.00	0.52	0.00	0.000	4	0.000	0.044	3332	3378	2037
3578	1.74	219.0	263.2	11.0	315	3585	0.00	0.52	0.00	0.000	6	0.000	0.030	3332	3022	2036
3652	1.75	224.6	255.4	9.8	322	3660	0.00	0.62	4.43	0.436	4	0.000	0.042	3332	3385	2021
3872	1.76	236.2	233.2	9.6	341	3886	0.00	0.50	10.62	0.564	6	0.000	0.031	3332	3061	1973
3951	1.78	249.0	225.7	9.6	348	3968	0.00	0.00	11.40	0.565	6	0.000	0.000	3332	3059	1919
4035	1.82	279.3	218.1	9.1	356	4063	0.00	0.00	25.15	0.600	6	0.000	0.000	3333	3059	1798
4129	1.89	341.2	210.3	8.1	365	4193	0.12	0.52	51.20	0.604	4	0.045	0.040	3374	3379	1544
4327	1.89	341.2	188.3	12.7	381	4331	0.00	0.50	0.00	0.000	6	0.000	0.030	3375	3041	1539
4406	1.89	341.2	177.6	12.7	388	4410	0.00	0.55	0.00	0.000	4	0.000	0.041	3375	3380	1538
4524	1.89	341.2	162.1	13.1	398	4527	0.00	0.47	0.00	0.000	6	0.000	0.029	3375	3053	1538
4603	1.89	341.2	151.9	12.4	405	4606	0.00	0.47	0.00	0.000	4	0.000	0.032	3375	2707	1537
4668	1.89	341.2	144.8	11.3	410	4671	0.00	0.50	0.00	0.000	6	0.000	0.038	3375	3049	1537
4747	1.89	341.2	135.0	12.4	417	4750	0.00	0.47	0.00	0.000	4	0.000	0.034	3375	2714	1536
4885	1.89	341.2	118.9	12.0	428	4892	0.00	0.50	0.00	0.000	6	0.000	0.036	3375	3054	1535
4964	1.89	341.2	109.4	12.6	435	4967	0.00	0.47	0.00	0.000	4	0.000	0.031	3375	2715	1535
5144	1.89	341.2	87.4	12.3	450	5151	0.00	0.50	0.00	0.000	6	0.000	0.035	3375	3058	1534
5222	1.89	341.2	79.1	11.4	457	5225	0.00	0.50	0.00	0.000	4	0.000	0.040	3375	3381	1534
5398	1.89	341.2	58.7	12.1	472	5402	0.00	0.47	0.00	0.000	6	0.000	0.028	3375	3049	1534
5478	1.93	368.8	51.2	9.2	479	5505	0.00	0.57	21.98	0.482	4	0.000	0.036	3374	3384	1432
5857	1.93	368.8	16.7	10.6	514	5864	0.00	0.47	0.00	0.000	6	0.000	0.027	3375	3048	1429
5945	1.93	368.8	8.8	10.1	527	5952	0.00	0.52	0.00	0.000	4	0.000	0.035	3374	3381	1428
5989	end climb: SURFACE_DEPTH_REACHED
state	5989	begin surface coast
6028	end surface coast: CONTROL_FINISHED_OK
state	6028	begin surface