Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 9 * 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 9 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 1987 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1987 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 350 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 150 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 175 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 500 T_GPS_CHARGE -106519.76 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 250 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 30 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2600 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 350

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 500 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 450 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 30 RAFOS_DEVICE -1 T_DIVE 150

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 -106519.76

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 175

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 2600 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1987 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1987 MASS 51956 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 36 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 9 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 093447,2153.513,-15940.655,34,1.8,34,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 1000.000

_XMS_NAKs 2 KALMAN_CONTROL -0.050,-0.322

_XMS_TOUTs 0 KALMAN_X -1224.3,18.8,-259.8,7643.6,-246.3

_SM_DEPTHo 1.21 KALMAN_Y 333.7,-22.7,126.0,-4434.3,104.2

_SM_ANGLEo -58.3 MHEAD_RNG_PITCHd_Wd 179.1,5978,-13.9,-10.000

GPS2 094338,2153.551,-15940.714,27,1.9,28,9.8 D_GRID 450

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.5,1.022953 MM_CLLLayer 0.03

SM_CCo 9220,0.00,0.000,0,0,983,474.41 MM_CfgFile 0.30

SM_GC 1.17,11.12,0.00,0.00,0.031,0.000,0.000,406,1978,983,-10.05,-0.23,474.41 _24V_AH 23.8,7.402

IRIDIUM_FIX 2148.09,-15942.95,241098,060647 _10V_AH 10.1,3.152

TT8_MAMPS 0.058292 DATA_FILE_SIZE 28415,872

HUMID 1970 CAP_FILE_SIZE 86604,0

INTERNAL_PRESSURE 7.51005 CFSIZE 260165632,256053248

TCM_TEMP 24.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 300709,121925,2152.069,-15941.378,42,1.5,42,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 190 117.04 SBE_CT 604 24 345.51

Roll_motor 55 73 97.09 nil 0 0 0.00

VBD_pump_during_apogee 612 895 13046.56 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 26 103 64.73 nil 0 0 0.00

Iridium_during_connect 29 160 113.55 GUMSTIX 123 1000 2949.70

Iridium_during_xfer 313 223 1665.76

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 63 1000 1503.21

GPS 28 50 14.53

TT8 1558 18 283.43

LPSleep 5494 0 21.64

TT8_Active 642 18 116.85

TT8_Sampling 1441 38 553.23

TT8_CF8 615 44 273.74

TT8_Kalman 33 80 26.94

Analog_circuits 1420 12 172.15

GPS_charging 0 0 0.00

Compass 1387 8 112.09

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.37 -243.3 0.0 0.0 0 94 0.00 0.00 -73.12 0.000 2 0.000 0.000 408 1980 3302

97 -1.37 -243.3 3.5 -7.2 12 125 11.65 2.55 -10.12 0.000 4 0.191 0.071 2295 585 3912

166 -1.37 -243.3 20.7 -13.7 23 172 0.00 2.40 0.00 0.000 6 0.000 0.034 2295 1996 3914

363 -1.37 -243.3 48.7 -12.0 42 367 0.00 2.55 0.00 0.000 4 0.000 0.058 2296 585 3915

402 -1.37 -243.3 53.7 -13.0 45 406 0.00 2.38 0.00 0.000 6 0.000 0.032 2295 1988 3914

727 -1.37 -243.3 95.0 -11.7 75 728 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1991 3916

1045 -1.37 -243.3 128.6 -10.5 105 1046 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1991 3918

1364 -1.37 -243.3 161.2 -9.8 135 1365 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1991 3919

1682 -1.37 -243.3 194.0 -10.0 165 1683 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1991 3919

2001 -1.37 -243.3 226.5 -9.1 195 2005 0.00 2.58 0.00 0.000 4 0.000 0.065 2295 577 3919

2034 -1.37 -243.3 229.6 -9.0 197 2041 0.00 2.40 0.00 0.000 6 0.000 0.037 2295 1984 3919

2360 -1.37 -243.3 260.2 -9.0 228 2365 0.00 2.53 0.00 0.000 4 0.000 0.064 2295 3375 3919

2393 -1.37 -243.3 263.5 -8.8 230 2400 0.00 2.40 0.00 0.000 6 0.000 0.039 2295 1988 3919

2720 -1.37 -243.3 292.0 -8.8 261 2721 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1988 3918

3037 -1.37 -243.3 320.7 -8.4 291 3041 0.00 2.55 0.00 0.000 4 0.000 0.067 2295 3377 3916

3058 -1.37 -243.3 322.5 -8.0 292 3065 0.00 2.42 0.00 0.000 6 0.000 0.041 2295 1987 3916

3385 -1.37 -243.3 348.5 -8.5 323 3386 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1987 3915

3702 -1.37 -243.3 375.5 -8.9 353 3703 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1987 3912

4020 -1.37 -243.3 405.6 -9.4 383 4022 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1987 3910

4339 -1.37 -243.3 430.6 -7.3 413 4340 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1985 3907

4612 end dive: TARGET_DEPTH_EXCEEDED

state 4612 begin apogee

4618 -0.38 0.0 450.4 7.0 439 4829 1.02 0.00 205.98 0.895 6 0.087 0.000 2509 1984 2917

4830 end apogee: CONTROL_FINISHED_OK

state 4830 begin climb

4833 1.37 243.3 458.4 0.0 460 5054 1.77 2.67 209.60 0.860 4 0.058 0.074 2898 3373 1924

5104 1.37 243.3 439.7 11.1 484 5112 0.00 2.50 0.00 0.000 6 0.000 0.047 2898 1989 1920

5432 1.38 251.6 407.2 9.8 515 5441 0.00 0.00 7.35 0.705 6 0.000 0.000 2898 1988 1891

5760 1.38 251.6 371.7 11.3 546 5761 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 1988 1888

6077 1.38 251.6 335.1 10.9 576 6081 0.00 2.60 0.00 0.000 4 0.000 0.070 2898 3378 1885

6165 1.38 251.6 325.3 10.5 583 6172 0.00 2.50 0.00 0.000 6 0.000 0.046 2898 1977 1885

6492 1.38 251.6 292.4 10.5 614 6496 0.00 2.60 0.00 0.000 4 0.000 0.066 2898 3381 1883

6558 1.38 251.6 285.0 11.4 619 6565 0.00 2.47 0.00 0.000 6 0.000 0.044 2898 1985 1884

6885 1.40 266.4 253.8 9.6 650 6905 0.00 2.62 12.60 0.765 4 0.000 0.064 2897 3385 1831

6940 1.43 293.8 248.7 9.2 655 6975 0.00 2.50 25.83 0.786 6 0.000 0.044 2898 1979 1718

7292 1.54 379.8 219.6 7.6 688 7374 0.17 2.67 74.78 0.768 4 0.048 0.060 2945 3378 1367

7420 1.54 379.8 203.7 14.9 699 7424 0.00 2.50 0.00 0.000 6 0.000 0.043 2945 1979 1363

7746 1.54 379.8 158.6 13.7 729 7747 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 1978 1358

8063 1.54 379.8 117.0 13.4 759 8067 0.00 2.55 0.00 0.000 4 0.000 0.056 2945 3383 1356

8113 1.54 379.8 110.1 12.9 763 8118 0.00 2.45 0.00 0.000 6 0.000 0.038 2945 1981 1355

8439 1.54 379.8 73.6 10.6 793 8441 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 1980 1355

8757 1.65 472.2 43.1 7.4 823 8837 0.00 0.00 76.30 0.594 6 0.000 0.000 2945 1980 991

9031 1.65 472.2 13.5 12.8 853 9037 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 1980 986

9105 1.65 472.2 3.6 13.6 866 9110 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 1980 986

9120 end climb: SURFACE_DEPTH_REACHED

state 9120 begin surface coast

9138 end surface coast: CONTROL_FINISHED_OK

state 9138 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	9	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	1987	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1987	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	350	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	150	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	175	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	500	T_GPS_CHARGE	-106519.76	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	250	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	30	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2600	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	093447,2153.513,-15940.655,34,1.8,34,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	1000.000
_XMS_NAKs	2	KALMAN_CONTROL	-0.050,-0.322
_XMS_TOUTs	0	KALMAN_X	-1224.3,18.8,-259.8,7643.6,-246.3
_SM_DEPTHo	1.21	KALMAN_Y	333.7,-22.7,126.0,-4434.3,104.2
_SM_ANGLEo	-58.3	MHEAD_RNG_PITCHd_Wd	179.1,5978,-13.9,-10.000
GPS2	094338,2153.551,-15940.714,27,1.9,28,9.8	D_GRID	450
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.5,1.022953	MM_CLLLayer	0.03
SM_CCo	9220,0.00,0.000,0,0,983,474.41	MM_CfgFile	0.30
SM_GC	1.17,11.12,0.00,0.00,0.031,0.000,0.000,406,1978,983,-10.05,-0.23,474.41	_24V_AH	23.8,7.402
IRIDIUM_FIX	2148.09,-15942.95,241098,060647	_10V_AH	10.1,3.152
TT8_MAMPS	0.058292	DATA_FILE_SIZE	28415,872
HUMID	1970	CAP_FILE_SIZE	86604,0
INTERNAL_PRESSURE	7.51005	CFSIZE	260165632,256053248
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	300709,121925,2152.069,-15941.378,42,1.5,42,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	190	117.04	SBE_CT	604	24	345.51
Roll_motor	55	73	97.09	nil	0	0	0.00
VBD_pump_during_apogee	612	895	13046.56	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	26	103	64.73	nil	0	0	0.00
Iridium_during_connect	29	160	113.55	GUMSTIX	123	1000	2949.70
Iridium_during_xfer	313	223	1665.76
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	63	1000	1503.21
GPS	28	50	14.53
TT8	1558	18	283.43
LPSleep	5494	0	21.64
TT8_Active	642	18	116.85
TT8_Sampling	1441	38	553.23
TT8_CF8	615	44	273.74
TT8_Kalman	33	80	26.94
Analog_circuits	1420	12	172.15
GPS_charging	0	0	0.00
Compass	1387	8	112.09
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.37	-243.3	0.0	0.0	0	94	0.00	0.00	-73.12	0.000	2	0.000	0.000	408	1980	3302
97	-1.37	-243.3	3.5	-7.2	12	125	11.65	2.55	-10.12	0.000	4	0.191	0.071	2295	585	3912
166	-1.37	-243.3	20.7	-13.7	23	172	0.00	2.40	0.00	0.000	6	0.000	0.034	2295	1996	3914
363	-1.37	-243.3	48.7	-12.0	42	367	0.00	2.55	0.00	0.000	4	0.000	0.058	2296	585	3915
402	-1.37	-243.3	53.7	-13.0	45	406	0.00	2.38	0.00	0.000	6	0.000	0.032	2295	1988	3914
727	-1.37	-243.3	95.0	-11.7	75	728	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1991	3916
1045	-1.37	-243.3	128.6	-10.5	105	1046	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1991	3918
1364	-1.37	-243.3	161.2	-9.8	135	1365	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1991	3919
1682	-1.37	-243.3	194.0	-10.0	165	1683	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1991	3919
2001	-1.37	-243.3	226.5	-9.1	195	2005	0.00	2.58	0.00	0.000	4	0.000	0.065	2295	577	3919
2034	-1.37	-243.3	229.6	-9.0	197	2041	0.00	2.40	0.00	0.000	6	0.000	0.037	2295	1984	3919
2360	-1.37	-243.3	260.2	-9.0	228	2365	0.00	2.53	0.00	0.000	4	0.000	0.064	2295	3375	3919
2393	-1.37	-243.3	263.5	-8.8	230	2400	0.00	2.40	0.00	0.000	6	0.000	0.039	2295	1988	3919
2720	-1.37	-243.3	292.0	-8.8	261	2721	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1988	3918
3037	-1.37	-243.3	320.7	-8.4	291	3041	0.00	2.55	0.00	0.000	4	0.000	0.067	2295	3377	3916
3058	-1.37	-243.3	322.5	-8.0	292	3065	0.00	2.42	0.00	0.000	6	0.000	0.041	2295	1987	3916
3385	-1.37	-243.3	348.5	-8.5	323	3386	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1987	3915
3702	-1.37	-243.3	375.5	-8.9	353	3703	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1987	3912
4020	-1.37	-243.3	405.6	-9.4	383	4022	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1987	3910
4339	-1.37	-243.3	430.6	-7.3	413	4340	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1985	3907
4612	end dive: TARGET_DEPTH_EXCEEDED
state	4612	begin apogee
4618	-0.38	0.0	450.4	7.0	439	4829	1.02	0.00	205.98	0.895	6	0.087	0.000	2509	1984	2917
4830	end apogee: CONTROL_FINISHED_OK
state	4830	begin climb
4833	1.37	243.3	458.4	0.0	460	5054	1.77	2.67	209.60	0.860	4	0.058	0.074	2898	3373	1924
5104	1.37	243.3	439.7	11.1	484	5112	0.00	2.50	0.00	0.000	6	0.000	0.047	2898	1989	1920
5432	1.38	251.6	407.2	9.8	515	5441	0.00	0.00	7.35	0.705	6	0.000	0.000	2898	1988	1891
5760	1.38	251.6	371.7	11.3	546	5761	0.00	0.00	0.00	0.000	6	0.000	0.000	2897	1988	1888
6077	1.38	251.6	335.1	10.9	576	6081	0.00	2.60	0.00	0.000	4	0.000	0.070	2898	3378	1885
6165	1.38	251.6	325.3	10.5	583	6172	0.00	2.50	0.00	0.000	6	0.000	0.046	2898	1977	1885
6492	1.38	251.6	292.4	10.5	614	6496	0.00	2.60	0.00	0.000	4	0.000	0.066	2898	3381	1883
6558	1.38	251.6	285.0	11.4	619	6565	0.00	2.47	0.00	0.000	6	0.000	0.044	2898	1985	1884
6885	1.40	266.4	253.8	9.6	650	6905	0.00	2.62	12.60	0.765	4	0.000	0.064	2897	3385	1831
6940	1.43	293.8	248.7	9.2	655	6975	0.00	2.50	25.83	0.786	6	0.000	0.044	2898	1979	1718
7292	1.54	379.8	219.6	7.6	688	7374	0.17	2.67	74.78	0.768	4	0.048	0.060	2945	3378	1367
7420	1.54	379.8	203.7	14.9	699	7424	0.00	2.50	0.00	0.000	6	0.000	0.043	2945	1979	1363
7746	1.54	379.8	158.6	13.7	729	7747	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	1978	1358
8063	1.54	379.8	117.0	13.4	759	8067	0.00	2.55	0.00	0.000	4	0.000	0.056	2945	3383	1356
8113	1.54	379.8	110.1	12.9	763	8118	0.00	2.45	0.00	0.000	6	0.000	0.038	2945	1981	1355
8439	1.54	379.8	73.6	10.6	793	8441	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	1980	1355
8757	1.65	472.2	43.1	7.4	823	8837	0.00	0.00	76.30	0.594	6	0.000	0.000	2945	1980	991
9031	1.65	472.2	13.5	12.8	853	9037	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	1980	986
9105	1.65	472.2	3.6	13.6	866	9110	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	1980	986
9120	end climb: SURFACE_DEPTH_REACHED
state	9120	begin surface coast
9138	end surface coast: CONTROL_FINISHED_OK
state	9138	begin surface