Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 9 * 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 9 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 2475 ALTIM_FREQUENCY 12

D_TGT 240 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2500 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 300 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 47 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 80 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 90 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 500 T_GPS_CHARGE -57689.262 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 250 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 30 PITCH_MAX 3449 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3120 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 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 500 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 240 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 30 RAFOS_DEVICE -1 T_DIVE 80

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 -57689.262

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 90

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 3120 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2500 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2475 MASS 51716 R_PORT_OVSHOOT 47 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 22 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 9 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 090055,2154.028,-15943.132,11,1.7,29,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 500.000

_XMS_NAKs 2 KALMAN_CONTROL 0.174,-0.274

_XMS_TOUTs 0 KALMAN_X -2174.4,13.0,-403.6,438.3,-320.5

_SM_DEPTHo 0.93 KALMAN_Y 2473.3,369.7,-137.9,-6455.4,101.3

_SM_ANGLEo -69.0 MHEAD_RNG_PITCHd_Wd 137.9,7269,-13.1,-10.000

GPS2 090931,2154.033,-15943.211,14,1.7,31,9.8 D_GRID 240

SPEED_LIMITS 0.173,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.1,1.022946 MM_CLLLayer 0.03

SM_CCo 5324,0.00,0.000,0,0,1355,387.82 MM_CfgFile 0.30

SM_GC 1.15,14.73,0.00,0.00,0.041,0.000,0.000,129,2487,1355,-13.71,0.34,387.82 _24V_AH 23.7,9.016

IRIDIUM_FIX 2143.45,-15943.76,231098,070721 _10V_AH 10.1,2.151

TT8_MAMPS 0.065195 DATA_FILE_SIZE 15859,501

HUMID 1894 CAP_FILE_SIZE 188728,0

INTERNAL_PRESSURE 11.4946 CFSIZE 260034560,256479232

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 290709,104007,2153.331,-15943.281,27,1.1,28,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 180 143.64 SBE_CT 325 24 185.20

Roll_motor 54 70 91.31 nil 0 0 0.00

VBD_pump_during_apogee 799 617 11704.37 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 24 103 59.36 nil 0 0 0.00

Iridium_during_connect 32 160 125.10 GUMSTIX 118 1000 2803.90

Iridium_during_xfer 313 223 1656.83

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 251 1000 5949.34

GPS 31 50 15.90

TT8 918 18 167.06

LPSleep 2523 0 9.94

TT8_Active 747 18 135.88

TT8_Sampling 955 38 366.75

TT8_CF8 697 44 310.11

TT8_Kalman 33 80 26.94

Analog_circuits 1362 12 165.18

GPS_charging 0 0 0.00

Compass 897 8 72.48

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

16 -1.39 -243.3 0.0 0.0 0 86 0.00 0.00 -67.10 0.000 2 0.000 0.000 133 2526 3262

88 -1.39 -243.3 3.3 -7.2 10 123 16.05 0.00 -11.75 0.000 6 0.180 0.000 2813 2526 3927

192 -1.39 -243.3 26.9 -15.2 23 193 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2526 3973

380 -1.39 -243.3 54.6 -13.9 41 384 0.00 2.45 0.00 0.000 4 0.000 0.061 2813 3876 3971

420 -1.39 -243.3 60.6 -16.1 44 424 0.00 2.35 0.00 0.000 6 0.000 0.028 2813 2474 3971

745 -1.39 -243.3 102.1 -11.4 74 749 0.00 2.58 0.00 0.000 4 0.000 0.064 2813 3880 3972

808 -1.39 -243.3 108.9 -10.6 79 813 0.00 2.35 0.00 0.000 6 0.000 0.028 2813 2468 3972

1133 -1.39 -243.3 143.7 -10.4 109 1137 0.00 2.60 0.00 0.000 4 0.000 0.065 2813 3881 3972

1217 -1.39 -243.3 152.1 -10.1 116 1221 0.00 2.35 0.00 0.000 6 0.000 0.028 2813 2477 3972

1542 -1.39 -243.3 182.2 -9.5 146 1546 0.00 2.58 0.00 0.000 4 0.000 0.067 2813 3873 3970

1641 -1.39 -243.3 192.5 -9.8 154 1649 0.00 2.35 0.00 0.000 6 0.000 0.029 2813 2474 3971

1968 -1.39 -243.3 222.3 -8.5 185 1972 0.00 2.60 0.00 0.000 4 0.000 0.069 2813 3876 3975

2044 -1.39 -243.3 230.0 -9.3 191 2053 0.00 2.40 0.00 0.000 6 0.000 0.031 2812 2478 3973

2156 end dive: TARGET_DEPTH_EXCEEDED

state 2156 begin apogee

2160 -0.42 0.0 240.5 9.6 202 2490 1.00 0.00 318.02 0.617 6 0.065 0.000 3032 2475 2937

2492 end apogee: CONTROL_FINISHED_OK

state 2492 begin climb

2494 1.39 243.3 260.6 0.0 235 2809 1.73 2.75 303.92 0.604 4 0.041 0.071 3424 3888 1944

2925 1.39 243.3 228.0 11.6 272 2929 0.00 2.40 0.00 0.000 6 0.000 0.033 3425 2497 1941

3250 1.41 258.3 194.2 9.6 302 3271 0.00 0.00 18.65 0.573 6 0.000 0.000 3425 2495 1884

3589 1.45 292.9 161.8 9.0 334 3640 0.00 2.65 44.28 0.594 4 0.000 0.067 3425 3880 1741

3692 1.46 303.8 151.9 9.7 343 3717 0.00 2.38 14.68 0.553 6 0.000 0.033 3425 2482 1697

4035 1.46 303.8 115.5 11.2 375 4039 0.00 2.60 0.00 0.000 4 0.000 0.065 3424 3888 1694

4068 1.46 303.8 111.8 10.6 377 4075 0.00 2.38 0.00 0.000 6 0.000 0.031 3425 2492 1693

4392 1.47 309.2 80.3 9.8 408 4406 0.00 2.60 7.12 0.487 4 0.000 0.062 3425 3894 1675

4466 1.47 309.2 72.0 11.3 414 4474 0.00 2.40 0.00 0.000 6 0.000 0.030 3424 2494 1674

4792 1.54 371.1 44.9 8.3 445 4876 0.12 2.60 76.55 0.546 4 0.045 0.060 3462 3889 1423

4934 1.54 371.1 30.4 11.4 457 4939 0.00 2.35 0.00 0.000 6 0.000 0.029 3463 2497 1422

5138 1.56 386.2 10.2 9.6 484 5159 0.00 2.47 16.62 0.490 4 0.000 0.039 3464 1111 1361

5197 end climb: SURFACE_DEPTH_REACHED

state 5197 begin surface coast

5237 end surface coast: CONTROL_FINISHED_OK

state 5237 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	9	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	2475	ALTIM_FREQUENCY	12
D_TGT	240	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2500	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	300	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	47	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	90	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	500	T_GPS_CHARGE	-57689.262	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	250	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	30	PITCH_MAX	3449	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3120	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	090055,2154.028,-15943.132,11,1.7,29,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	500.000
_XMS_NAKs	2	KALMAN_CONTROL	0.174,-0.274
_XMS_TOUTs	0	KALMAN_X	-2174.4,13.0,-403.6,438.3,-320.5
_SM_DEPTHo	0.93	KALMAN_Y	2473.3,369.7,-137.9,-6455.4,101.3
_SM_ANGLEo	-69.0	MHEAD_RNG_PITCHd_Wd	137.9,7269,-13.1,-10.000
GPS2	090931,2154.033,-15943.211,14,1.7,31,9.8	D_GRID	240
SPEED_LIMITS	0.173,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.1,1.022946	MM_CLLLayer	0.03
SM_CCo	5324,0.00,0.000,0,0,1355,387.82	MM_CfgFile	0.30
SM_GC	1.15,14.73,0.00,0.00,0.041,0.000,0.000,129,2487,1355,-13.71,0.34,387.82	_24V_AH	23.7,9.016
IRIDIUM_FIX	2143.45,-15943.76,231098,070721	_10V_AH	10.1,2.151
TT8_MAMPS	0.065195	DATA_FILE_SIZE	15859,501
HUMID	1894	CAP_FILE_SIZE	188728,0
INTERNAL_PRESSURE	11.4946	CFSIZE	260034560,256479232
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	290709,104007,2153.331,-15943.281,27,1.1,28,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	180	143.64	SBE_CT	325	24	185.20
Roll_motor	54	70	91.31	nil	0	0	0.00
VBD_pump_during_apogee	799	617	11704.37	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	24	103	59.36	nil	0	0	0.00
Iridium_during_connect	32	160	125.10	GUMSTIX	118	1000	2803.90
Iridium_during_xfer	313	223	1656.83
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	251	1000	5949.34
GPS	31	50	15.90
TT8	918	18	167.06
LPSleep	2523	0	9.94
TT8_Active	747	18	135.88
TT8_Sampling	955	38	366.75
TT8_CF8	697	44	310.11
TT8_Kalman	33	80	26.94
Analog_circuits	1362	12	165.18
GPS_charging	0	0	0.00
Compass	897	8	72.48
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
16	-1.39	-243.3	0.0	0.0	0	86	0.00	0.00	-67.10	0.000	2	0.000	0.000	133	2526	3262
88	-1.39	-243.3	3.3	-7.2	10	123	16.05	0.00	-11.75	0.000	6	0.180	0.000	2813	2526	3927
192	-1.39	-243.3	26.9	-15.2	23	193	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	2526	3973
380	-1.39	-243.3	54.6	-13.9	41	384	0.00	2.45	0.00	0.000	4	0.000	0.061	2813	3876	3971
420	-1.39	-243.3	60.6	-16.1	44	424	0.00	2.35	0.00	0.000	6	0.000	0.028	2813	2474	3971
745	-1.39	-243.3	102.1	-11.4	74	749	0.00	2.58	0.00	0.000	4	0.000	0.064	2813	3880	3972
808	-1.39	-243.3	108.9	-10.6	79	813	0.00	2.35	0.00	0.000	6	0.000	0.028	2813	2468	3972
1133	-1.39	-243.3	143.7	-10.4	109	1137	0.00	2.60	0.00	0.000	4	0.000	0.065	2813	3881	3972
1217	-1.39	-243.3	152.1	-10.1	116	1221	0.00	2.35	0.00	0.000	6	0.000	0.028	2813	2477	3972
1542	-1.39	-243.3	182.2	-9.5	146	1546	0.00	2.58	0.00	0.000	4	0.000	0.067	2813	3873	3970
1641	-1.39	-243.3	192.5	-9.8	154	1649	0.00	2.35	0.00	0.000	6	0.000	0.029	2813	2474	3971
1968	-1.39	-243.3	222.3	-8.5	185	1972	0.00	2.60	0.00	0.000	4	0.000	0.069	2813	3876	3975
2044	-1.39	-243.3	230.0	-9.3	191	2053	0.00	2.40	0.00	0.000	6	0.000	0.031	2812	2478	3973
2156	end dive: TARGET_DEPTH_EXCEEDED
state	2156	begin apogee
2160	-0.42	0.0	240.5	9.6	202	2490	1.00	0.00	318.02	0.617	6	0.065	0.000	3032	2475	2937
2492	end apogee: CONTROL_FINISHED_OK
state	2492	begin climb
2494	1.39	243.3	260.6	0.0	235	2809	1.73	2.75	303.92	0.604	4	0.041	0.071	3424	3888	1944
2925	1.39	243.3	228.0	11.6	272	2929	0.00	2.40	0.00	0.000	6	0.000	0.033	3425	2497	1941
3250	1.41	258.3	194.2	9.6	302	3271	0.00	0.00	18.65	0.573	6	0.000	0.000	3425	2495	1884
3589	1.45	292.9	161.8	9.0	334	3640	0.00	2.65	44.28	0.594	4	0.000	0.067	3425	3880	1741
3692	1.46	303.8	151.9	9.7	343	3717	0.00	2.38	14.68	0.553	6	0.000	0.033	3425	2482	1697
4035	1.46	303.8	115.5	11.2	375	4039	0.00	2.60	0.00	0.000	4	0.000	0.065	3424	3888	1694
4068	1.46	303.8	111.8	10.6	377	4075	0.00	2.38	0.00	0.000	6	0.000	0.031	3425	2492	1693
4392	1.47	309.2	80.3	9.8	408	4406	0.00	2.60	7.12	0.487	4	0.000	0.062	3425	3894	1675
4466	1.47	309.2	72.0	11.3	414	4474	0.00	2.40	0.00	0.000	6	0.000	0.030	3424	2494	1674
4792	1.54	371.1	44.9	8.3	445	4876	0.12	2.60	76.55	0.546	4	0.045	0.060	3462	3889	1423
4934	1.54	371.1	30.4	11.4	457	4939	0.00	2.35	0.00	0.000	6	0.000	0.029	3463	2497	1422
5138	1.56	386.2	10.2	9.6	484	5159	0.00	2.47	16.62	0.490	4	0.000	0.039	3464	1111	1361
5197	end climb: SURFACE_DEPTH_REACHED
state	5197	begin surface coast
5237	end surface coast: CONTROL_FINISHED_OK
state	5237	begin surface