Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 17 * 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 17 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 1905 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1990 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 37 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 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 -106715.3 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 2552 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 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 30 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 -106715.3

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 2552 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1990 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1905 MASS 51956 R_PORT_OVSHOOT 37 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 17 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 012507,2150.843,-15942.801,40,1.3,40,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 2 KALMAN_CONTROL 0.310,-0.100

_XMS_TOUTs 0 KALMAN_X -14512.3,-1019.0,168.5,17716.0,-2692.6

_SM_DEPTHo 1.03 KALMAN_Y 3956.8,195.9,28.4,-13070.3,780.4

_SM_ANGLEo -50.6 MHEAD_RNG_PITCHd_Wd 98.0,2547,-13.9,-10.000

GPS2 013455,2150.910,-15942.943,14,1.4,31,9.8 D_GRID 660

SPEED_LIMITS 0.173,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.5,1.023022 MM_CLLLayer 0.03

SM_CCo 12553,0.00,0.000,0,0,925,488.88 MM_CfgFile 0.30

SM_GC 1.22,10.98,0.00,0.00,0.029,0.000,0.000,407,1898,925,-9.82,-0.23,488.88 _24V_AH 23.6,8.833

IRIDIUM_FIX 2141.13,-15941.58,241098,232313 _10V_AH 10.1,3.725

TT8_MAMPS 0.059826 DATA_FILE_SIZE 37839,1173

HUMID 1944 CAP_FILE_SIZE 123545,0

INTERNAL_PRESSURE 7.50029 CFSIZE 260165632,255430656

TCM_TEMP 24.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 310709,050607,2150.616,-15941.784,35,1.2,35,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 196 118.86 SBE_CT 825 24 467.80

Roll_motor 127 85 255.27 nil 0 0 0.00

VBD_pump_during_apogee 666 1075 16906.75 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 60.42 nil 0 0 0.00

Iridium_during_connect 28 160 107.16 GUMSTIX 159 1000 3757.07

Iridium_during_xfer 367 223 1931.60

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 409 1000 9655.52

GPS 31 50 16.07

TT8 2139 18 389.01

LPSleep 7475 0 29.45

TT8_Active 751 18 136.70

TT8_Sampling 2021 38 775.94

TT8_CF8 754 44 335.45

TT8_Kalman 33 80 26.94

Analog_circuits 1836 12 222.63

GPS_charging 0 0 0.00

Compass 1948 8 157.42

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 -1.37 -243.3 0.0 0.0 0 117 0.00 0.00 -97.25 0.000 2 0.000 0.000 405 1908 3356

120 -1.37 -243.3 3.9 -8.6 16 148 11.57 2.55 -9.05 0.000 4 0.196 0.072 2249 509 3911

209 -1.37 -243.3 26.3 -16.6 28 216 0.00 2.38 0.00 0.000 6 0.000 0.031 2249 1907 3912

406 -1.37 -243.3 60.7 -18.0 47 411 0.00 2.47 0.00 0.000 4 0.000 0.049 2249 3304 3912

424 -1.37 -243.3 63.8 -18.3 48 428 0.00 2.38 0.00 0.000 6 0.000 0.033 2249 1919 3912

750 -1.37 -243.3 112.8 -14.2 78 751 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 1919 3914

1067 -1.37 -243.3 155.9 -13.0 108 1068 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 1919 3915

1385 -1.37 -243.3 193.3 -11.6 138 1390 0.00 2.47 0.00 0.000 4 0.000 0.053 2249 3299 3915

1440 -1.37 -243.3 200.3 -12.6 142 1448 0.00 2.42 0.00 0.000 6 0.000 0.038 2249 1899 3915

1767 -1.37 -243.3 237.8 -11.1 173 1771 0.00 2.53 0.00 0.000 4 0.000 0.055 2249 3304 3915

1800 -1.37 -243.3 242.0 -11.6 175 1807 0.00 2.42 0.00 0.000 6 0.000 0.038 2249 1907 3915

2127 -1.37 -243.3 280.8 -12.4 206 2131 0.00 2.53 0.00 0.000 4 0.000 0.058 2249 3303 3916

2166 -1.37 -243.3 285.7 -12.4 209 2170 0.00 2.45 0.00 0.000 6 0.000 0.039 2249 1896 3916

2492 -1.37 -243.3 322.5 -11.0 239 2493 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 1896 3915

2809 -1.37 -243.3 357.4 -11.5 269 2810 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 1896 3914

3127 -1.37 -243.3 393.4 -10.5 299 3132 0.00 2.58 0.00 0.000 4 0.000 0.066 2249 3295 3911

3223 -1.37 -243.3 404.0 -10.8 307 3228 0.00 2.45 0.00 0.000 6 0.000 0.044 2249 1906 3910

3550 -1.37 -243.3 434.6 -8.8 337 3554 0.00 2.55 0.00 0.000 4 0.000 0.066 2249 3295 3907

3582 -1.37 -243.3 437.9 -9.3 339 3589 0.00 2.47 0.00 0.000 6 0.000 0.046 2249 1902 3907

3908 -1.37 -243.3 470.1 -10.7 370 3913 0.00 2.67 0.00 0.000 4 0.000 0.083 2249 495 3905

3952 -1.37 -243.3 475.2 -10.9 373 3959 0.00 2.47 0.00 0.000 6 0.000 0.043 2249 1903 3905

4279 -1.37 -243.3 510.5 -10.7 404 4283 0.00 2.58 0.00 0.000 4 0.000 0.067 2249 3302 3901

4322 -1.37 -243.3 515.7 -11.2 407 4329 0.00 2.50 0.00 0.000 6 0.000 0.048 2249 1901 3901

4649 -1.37 -243.3 548.0 -9.5 438 4653 0.00 2.60 0.00 0.000 4 0.000 0.067 2249 3305 3898

4704 -1.37 -243.3 553.5 -9.2 442 4711 0.00 2.50 0.00 0.000 6 0.000 0.048 2249 1905 3898

5030 -1.37 -243.3 584.8 -10.5 473 5035 0.00 2.60 0.00 0.000 4 0.000 0.067 2249 3311 3895

5115 -1.37 -243.3 594.4 -11.8 480 5119 0.00 2.53 0.00 0.000 6 0.000 0.049 2249 1899 3894

5441 -1.37 -243.3 630.7 -11.0 510 5445 0.00 2.60 0.00 0.000 4 0.000 0.067 2249 3304 3890

5484 -1.37 -243.3 635.6 -10.5 513 5491 0.00 2.50 0.00 0.000 6 0.000 0.049 2249 1905 3890

5722 end dive: TARGET_DEPTH_EXCEEDED

state 5722 begin apogee

5728 -0.38 0.0 660.2 9.8 536 5949 1.05 0.00 215.27 1.075 6 0.097 0.000 2460 1993 2917

5950 end apogee: CONTROL_FINISHED_OK

state 5950 begin climb

5953 1.37 243.3 669.1 0.0 558 6191 1.85 2.70 222.45 1.028 4 0.070 0.071 2848 3382 1924

6253 1.37 246.2 647.3 9.9 584 6260 0.00 2.53 0.00 0.000 6 0.000 0.049 2848 1990 1919

6579 1.42 288.4 616.4 8.8 615 6630 0.00 2.70 42.00 0.999 4 0.000 0.071 2848 3392 1741

6646 1.45 312.8 610.0 9.3 621 6677 0.00 2.55 24.48 0.970 6 0.000 0.049 2848 1990 1641

6994 1.46 320.9 577.1 9.8 654 7005 0.10 0.00 7.72 0.849 6 0.061 0.000 2878 1990 1608

7324 1.46 320.9 539.4 11.5 685 7328 0.00 2.62 0.00 0.000 4 0.000 0.071 2878 3387 1605

7385 1.46 320.9 532.3 11.2 690 7390 0.00 2.53 0.00 0.000 6 0.000 0.050 2878 1989 1604

7713 1.50 348.5 500.6 9.2 720 7742 0.00 0.00 26.77 0.969 6 0.000 0.000 2878 1989 1496

8060 1.51 357.3 468.0 9.8 753 8071 0.00 0.00 8.88 0.858 6 0.000 0.000 2878 1989 1460

8389 1.51 357.3 432.0 11.5 784 8393 0.00 2.70 0.00 0.000 4 0.000 0.085 2878 582 1457

8439 1.51 357.3 425.8 11.2 788 8444 0.00 2.53 0.00 0.000 6 0.000 0.047 2878 1997 1456

8765 1.51 357.3 390.7 11.1 818 8770 0.00 2.60 0.00 0.000 4 0.000 0.072 2878 3388 1455

8832 1.51 357.3 382.8 11.7 823 8839 0.00 2.50 0.00 0.000 6 0.000 0.048 2878 1991 1455

9158 1.51 357.3 348.0 11.1 854 9159 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 1991 1454

9476 1.51 357.3 313.3 11.3 884 9480 0.00 2.67 0.00 0.000 4 0.000 0.081 2878 584 1453

9526 1.51 357.3 307.3 12.3 888 9530 0.00 2.50 0.00 0.000 6 0.000 0.044 2878 1999 1453

9852 1.51 357.3 267.9 12.0 918 9856 0.00 2.58 0.00 0.000 4 0.000 0.067 2878 3389 1453

9907 1.51 357.3 261.3 11.6 922 9914 0.00 2.50 0.00 0.000 6 0.000 0.044 2878 1983 1453

10233 1.56 400.4 231.2 8.8 953 10280 0.00 2.62 39.33 0.802 4 0.000 0.074 2878 581 1283

10337 1.56 400.4 221.1 10.1 962 10341 0.00 2.50 0.00 0.000 6 0.000 0.040 2878 1999 1280

10661 1.56 400.4 185.7 12.0 992 10666 0.00 2.65 0.00 0.000 4 0.000 0.069 2878 584 1277

10694 1.56 400.4 181.4 12.8 994 10701 0.00 2.50 0.00 0.000 6 0.000 0.038 2878 2003 1276

11020 1.57 405.0 146.3 9.9 1025 11032 0.00 2.55 3.92 0.480 4 0.000 0.062 2878 3386 1266

11056 1.57 405.0 142.1 11.4 1028 11060 0.00 2.47 0.00 0.000 6 0.000 0.039 2877 1979 1266

11381 1.60 435.0 109.1 9.2 1058 11416 0.10 2.58 28.27 0.662 4 0.051 0.067 2916 578 1142

11485 1.60 435.0 97.5 12.7 1067 11489 0.00 2.45 0.00 0.000 6 0.000 0.035 2916 1994 1139

11810 1.64 462.5 67.0 9.2 1097 11844 0.00 2.70 24.17 0.607 4 0.000 0.063 2916 584 1030

11867 1.64 462.5 61.1 10.8 1102 11871 0.00 2.45 0.00 0.000 6 0.000 0.034 2916 2001 1029

12194 1.66 480.8 29.1 9.5 1132 12217 0.00 2.47 16.95 0.551 4 0.000 0.055 2916 3383 955

12241 1.66 480.8 23.4 11.3 1136 12245 0.00 2.42 0.00 0.000 6 0.000 0.035 2916 1986 954

12447 1.70 511.3 2.7 9.2 1169 12455 0.00 0.00 5.97 0.443 2 0.000 0.000 2916 1986 927

12455 end climb: SURFACE_DEPTH_REACHED

state 12455 begin surface coast

12472 end surface coast: CONTROL_FINISHED_OK

state 12472 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	17	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	1905	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1990	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	37	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	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	-106715.3	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	2552	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	012507,2150.843,-15942.801,40,1.3,40,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	2	KALMAN_CONTROL	0.310,-0.100
_XMS_TOUTs	0	KALMAN_X	-14512.3,-1019.0,168.5,17716.0,-2692.6
_SM_DEPTHo	1.03	KALMAN_Y	3956.8,195.9,28.4,-13070.3,780.4
_SM_ANGLEo	-50.6	MHEAD_RNG_PITCHd_Wd	98.0,2547,-13.9,-10.000
GPS2	013455,2150.910,-15942.943,14,1.4,31,9.8	D_GRID	660
SPEED_LIMITS	0.173,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.5,1.023022	MM_CLLLayer	0.03
SM_CCo	12553,0.00,0.000,0,0,925,488.88	MM_CfgFile	0.30
SM_GC	1.22,10.98,0.00,0.00,0.029,0.000,0.000,407,1898,925,-9.82,-0.23,488.88	_24V_AH	23.6,8.833
IRIDIUM_FIX	2141.13,-15941.58,241098,232313	_10V_AH	10.1,3.725
TT8_MAMPS	0.059826	DATA_FILE_SIZE	37839,1173
HUMID	1944	CAP_FILE_SIZE	123545,0
INTERNAL_PRESSURE	7.50029	CFSIZE	260165632,255430656
TCM_TEMP	24.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	310709,050607,2150.616,-15941.784,35,1.2,35,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	196	118.86	SBE_CT	825	24	467.80
Roll_motor	127	85	255.27	nil	0	0	0.00
VBD_pump_during_apogee	666	1075	16906.75	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	60.42	nil	0	0	0.00
Iridium_during_connect	28	160	107.16	GUMSTIX	159	1000	3757.07
Iridium_during_xfer	367	223	1931.60
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	409	1000	9655.52
GPS	31	50	16.07
TT8	2139	18	389.01
LPSleep	7475	0	29.45
TT8_Active	751	18	136.70
TT8_Sampling	2021	38	775.94
TT8_CF8	754	44	335.45
TT8_Kalman	33	80	26.94
Analog_circuits	1836	12	222.63
GPS_charging	0	0	0.00
Compass	1948	8	157.42
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	-1.37	-243.3	0.0	0.0	0	117	0.00	0.00	-97.25	0.000	2	0.000	0.000	405	1908	3356
120	-1.37	-243.3	3.9	-8.6	16	148	11.57	2.55	-9.05	0.000	4	0.196	0.072	2249	509	3911
209	-1.37	-243.3	26.3	-16.6	28	216	0.00	2.38	0.00	0.000	6	0.000	0.031	2249	1907	3912
406	-1.37	-243.3	60.7	-18.0	47	411	0.00	2.47	0.00	0.000	4	0.000	0.049	2249	3304	3912
424	-1.37	-243.3	63.8	-18.3	48	428	0.00	2.38	0.00	0.000	6	0.000	0.033	2249	1919	3912
750	-1.37	-243.3	112.8	-14.2	78	751	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	1919	3914
1067	-1.37	-243.3	155.9	-13.0	108	1068	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	1919	3915
1385	-1.37	-243.3	193.3	-11.6	138	1390	0.00	2.47	0.00	0.000	4	0.000	0.053	2249	3299	3915
1440	-1.37	-243.3	200.3	-12.6	142	1448	0.00	2.42	0.00	0.000	6	0.000	0.038	2249	1899	3915
1767	-1.37	-243.3	237.8	-11.1	173	1771	0.00	2.53	0.00	0.000	4	0.000	0.055	2249	3304	3915
1800	-1.37	-243.3	242.0	-11.6	175	1807	0.00	2.42	0.00	0.000	6	0.000	0.038	2249	1907	3915
2127	-1.37	-243.3	280.8	-12.4	206	2131	0.00	2.53	0.00	0.000	4	0.000	0.058	2249	3303	3916
2166	-1.37	-243.3	285.7	-12.4	209	2170	0.00	2.45	0.00	0.000	6	0.000	0.039	2249	1896	3916
2492	-1.37	-243.3	322.5	-11.0	239	2493	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	1896	3915
2809	-1.37	-243.3	357.4	-11.5	269	2810	0.00	0.00	0.00	0.000	6	0.000	0.000	2249	1896	3914
3127	-1.37	-243.3	393.4	-10.5	299	3132	0.00	2.58	0.00	0.000	4	0.000	0.066	2249	3295	3911
3223	-1.37	-243.3	404.0	-10.8	307	3228	0.00	2.45	0.00	0.000	6	0.000	0.044	2249	1906	3910
3550	-1.37	-243.3	434.6	-8.8	337	3554	0.00	2.55	0.00	0.000	4	0.000	0.066	2249	3295	3907
3582	-1.37	-243.3	437.9	-9.3	339	3589	0.00	2.47	0.00	0.000	6	0.000	0.046	2249	1902	3907
3908	-1.37	-243.3	470.1	-10.7	370	3913	0.00	2.67	0.00	0.000	4	0.000	0.083	2249	495	3905
3952	-1.37	-243.3	475.2	-10.9	373	3959	0.00	2.47	0.00	0.000	6	0.000	0.043	2249	1903	3905
4279	-1.37	-243.3	510.5	-10.7	404	4283	0.00	2.58	0.00	0.000	4	0.000	0.067	2249	3302	3901
4322	-1.37	-243.3	515.7	-11.2	407	4329	0.00	2.50	0.00	0.000	6	0.000	0.048	2249	1901	3901
4649	-1.37	-243.3	548.0	-9.5	438	4653	0.00	2.60	0.00	0.000	4	0.000	0.067	2249	3305	3898
4704	-1.37	-243.3	553.5	-9.2	442	4711	0.00	2.50	0.00	0.000	6	0.000	0.048	2249	1905	3898
5030	-1.37	-243.3	584.8	-10.5	473	5035	0.00	2.60	0.00	0.000	4	0.000	0.067	2249	3311	3895
5115	-1.37	-243.3	594.4	-11.8	480	5119	0.00	2.53	0.00	0.000	6	0.000	0.049	2249	1899	3894
5441	-1.37	-243.3	630.7	-11.0	510	5445	0.00	2.60	0.00	0.000	4	0.000	0.067	2249	3304	3890
5484	-1.37	-243.3	635.6	-10.5	513	5491	0.00	2.50	0.00	0.000	6	0.000	0.049	2249	1905	3890
5722	end dive: TARGET_DEPTH_EXCEEDED
state	5722	begin apogee
5728	-0.38	0.0	660.2	9.8	536	5949	1.05	0.00	215.27	1.075	6	0.097	0.000	2460	1993	2917
5950	end apogee: CONTROL_FINISHED_OK
state	5950	begin climb
5953	1.37	243.3	669.1	0.0	558	6191	1.85	2.70	222.45	1.028	4	0.070	0.071	2848	3382	1924
6253	1.37	246.2	647.3	9.9	584	6260	0.00	2.53	0.00	0.000	6	0.000	0.049	2848	1990	1919
6579	1.42	288.4	616.4	8.8	615	6630	0.00	2.70	42.00	0.999	4	0.000	0.071	2848	3392	1741
6646	1.45	312.8	610.0	9.3	621	6677	0.00	2.55	24.48	0.970	6	0.000	0.049	2848	1990	1641
6994	1.46	320.9	577.1	9.8	654	7005	0.10	0.00	7.72	0.849	6	0.061	0.000	2878	1990	1608
7324	1.46	320.9	539.4	11.5	685	7328	0.00	2.62	0.00	0.000	4	0.000	0.071	2878	3387	1605
7385	1.46	320.9	532.3	11.2	690	7390	0.00	2.53	0.00	0.000	6	0.000	0.050	2878	1989	1604
7713	1.50	348.5	500.6	9.2	720	7742	0.00	0.00	26.77	0.969	6	0.000	0.000	2878	1989	1496
8060	1.51	357.3	468.0	9.8	753	8071	0.00	0.00	8.88	0.858	6	0.000	0.000	2878	1989	1460
8389	1.51	357.3	432.0	11.5	784	8393	0.00	2.70	0.00	0.000	4	0.000	0.085	2878	582	1457
8439	1.51	357.3	425.8	11.2	788	8444	0.00	2.53	0.00	0.000	6	0.000	0.047	2878	1997	1456
8765	1.51	357.3	390.7	11.1	818	8770	0.00	2.60	0.00	0.000	4	0.000	0.072	2878	3388	1455
8832	1.51	357.3	382.8	11.7	823	8839	0.00	2.50	0.00	0.000	6	0.000	0.048	2878	1991	1455
9158	1.51	357.3	348.0	11.1	854	9159	0.00	0.00	0.00	0.000	6	0.000	0.000	2878	1991	1454
9476	1.51	357.3	313.3	11.3	884	9480	0.00	2.67	0.00	0.000	4	0.000	0.081	2878	584	1453
9526	1.51	357.3	307.3	12.3	888	9530	0.00	2.50	0.00	0.000	6	0.000	0.044	2878	1999	1453
9852	1.51	357.3	267.9	12.0	918	9856	0.00	2.58	0.00	0.000	4	0.000	0.067	2878	3389	1453
9907	1.51	357.3	261.3	11.6	922	9914	0.00	2.50	0.00	0.000	6	0.000	0.044	2878	1983	1453
10233	1.56	400.4	231.2	8.8	953	10280	0.00	2.62	39.33	0.802	4	0.000	0.074	2878	581	1283
10337	1.56	400.4	221.1	10.1	962	10341	0.00	2.50	0.00	0.000	6	0.000	0.040	2878	1999	1280
10661	1.56	400.4	185.7	12.0	992	10666	0.00	2.65	0.00	0.000	4	0.000	0.069	2878	584	1277
10694	1.56	400.4	181.4	12.8	994	10701	0.00	2.50	0.00	0.000	6	0.000	0.038	2878	2003	1276
11020	1.57	405.0	146.3	9.9	1025	11032	0.00	2.55	3.92	0.480	4	0.000	0.062	2878	3386	1266
11056	1.57	405.0	142.1	11.4	1028	11060	0.00	2.47	0.00	0.000	6	0.000	0.039	2877	1979	1266
11381	1.60	435.0	109.1	9.2	1058	11416	0.10	2.58	28.27	0.662	4	0.051	0.067	2916	578	1142
11485	1.60	435.0	97.5	12.7	1067	11489	0.00	2.45	0.00	0.000	6	0.000	0.035	2916	1994	1139
11810	1.64	462.5	67.0	9.2	1097	11844	0.00	2.70	24.17	0.607	4	0.000	0.063	2916	584	1030
11867	1.64	462.5	61.1	10.8	1102	11871	0.00	2.45	0.00	0.000	6	0.000	0.034	2916	2001	1029
12194	1.66	480.8	29.1	9.5	1132	12217	0.00	2.47	16.95	0.551	4	0.000	0.055	2916	3383	955
12241	1.66	480.8	23.4	11.3	1136	12245	0.00	2.42	0.00	0.000	6	0.000	0.035	2916	1986	954
12447	1.70	511.3	2.7	9.2	1169	12455	0.00	0.00	5.97	0.443	2	0.000	0.000	2916	1986	927
12455	end climb: SURFACE_DEPTH_REACHED
state	12455	begin surface coast
12472	end surface coast: CONTROL_FINISHED_OK
state	12472	begin surface