Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 26 * 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 26 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 450 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 29 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 -106880.44 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 450

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 -106880.44

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 29 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 26 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 052152,2153.991,-15941.742,11,2.4,30,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 2 KALMAN_CONTROL 0.210,-0.095

_XMS_TOUTs 0 KALMAN_X -28352.6,-1085.4,3.8,33653.4,-94.4

_SM_DEPTHo 1.13 KALMAN_Y 7193.0,674.7,-54.8,-11001.3,-14.6

_SM_ANGLEo -51.9 MHEAD_RNG_PITCHd_Wd 104.6,2957,-20.9,-10.000

GPS2 053010,2153.987,-15941.854,12,2.1,31,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.6,1.022939 MM_CLLLayer 0.03

SM_CCo 12130,66.40,0.529,0,0,1082,450.13 MM_CfgFile 0.30

SM_GC 1.22,0.00,0.00,66.40,0.000,0.000,0.529,408,1987,1082,-9.82,0.48,450.13 _24V_AH 23.7,10.591

IRIDIUM_FIX 2141.13,-15934.24,261098,020226 _10V_AH 10.1,4.570

TT8_MAMPS 0.081302 DATA_FILE_SIZE 37830,1137

HUMID 1918 CAP_FILE_SIZE 118855,0

INTERNAL_PRESSURE 7.50029 CFSIZE 260165632,254525440

TCM_TEMP 24.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 010809,085537,2153.539,-15940.270,43,1.8,43,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 189 115.95 SBE_CT 801 24 455.94

Roll_motor 117 78 216.98 nil 0 0 0.00

VBD_pump_during_apogee 410 1068 10384.48 nil 0 0 0.00

VBD_pump_during_surface 66 529 832.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.63 nil 0 0 0.00

Iridium_during_connect 29 160 113.17 GUMSTIX 153 1000 3641.20

Iridium_during_xfer 283 223 1497.75

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 81 1000 1942.00

GPS 32 50 16.35

TT8 2134 18 388.04

LPSleep 7272 0 28.65

TT8_Active 603 18 109.78

TT8_Sampling 2035 38 781.04

TT8_CF8 654 44 290.96

TT8_Kalman 33 80 26.94

Analog_circuits 1655 12 200.63

GPS_charging 0 0 0.00

Compass 1967 8 158.97

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 -1.75 -111.9 0.0 0.0 0 117 0.00 0.00 -96.18 0.000 2 0.000 0.000 401 1897 3300

120 -1.77 -135.4 3.8 -8.6 16 141 10.73 2.42 -2.97 0.000 4 0.189 0.071 2148 565 3470

215 -1.77 -135.4 29.5 -21.3 29 219 0.00 2.40 0.00 0.000 6 0.000 0.030 2148 1982 3472

412 -1.77 -135.4 66.3 -16.7 47 416 0.00 2.55 0.00 0.000 4 0.000 0.057 2148 572 3472

455 -1.77 -135.4 73.9 -16.2 50 462 0.00 2.38 0.00 0.000 6 0.000 0.029 2149 1982 3472

780 -1.77 -135.4 124.9 -16.5 81 785 0.00 2.55 0.00 0.000 4 0.000 0.058 2148 570 3474

835 -1.77 -135.4 133.7 -15.1 85 843 0.00 2.38 0.00 0.000 6 0.000 0.031 2148 1977 3475

1162 -1.77 -135.4 177.7 -13.1 116 1163 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 1978 3476

1479 -1.77 -135.4 218.5 -13.7 146 1480 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 1978 3477

1798 -1.77 -135.4 260.6 -11.9 176 1802 0.00 2.58 0.00 0.000 4 0.000 0.064 2148 567 3477

1825 -1.77 -135.4 264.0 -12.2 178 1830 0.00 2.40 0.00 0.000 6 0.000 0.035 2148 1973 3476

2152 -1.77 -135.4 305.6 -14.3 208 2153 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 1973 3476

2469 -1.77 -135.4 349.5 -12.9 238 2473 0.00 2.53 0.00 0.000 4 0.000 0.062 2148 3363 3476

2542 -1.77 -135.4 359.1 -13.5 244 2546 0.00 2.42 0.00 0.000 6 0.000 0.041 2148 1976 3475

2868 -1.77 -135.4 398.6 -11.8 274 2872 0.00 2.53 0.00 0.000 4 0.000 0.063 2148 3360 3473

2896 -1.77 -135.4 402.2 -12.2 276 2900 0.00 2.45 0.00 0.000 6 0.000 0.043 2148 1961 3473

3229 -1.77 -135.4 438.8 -11.2 307 3235 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 1959 3470

3554 -1.77 -135.4 472.8 -10.4 338 3555 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 1957 3467

3873 -1.77 -135.4 506.8 -10.7 368 3877 0.00 2.62 0.00 0.000 4 0.000 0.077 2148 565 3465

3923 -1.77 -135.4 512.6 -11.5 372 3927 0.00 2.45 0.00 0.000 6 0.000 0.042 2148 1966 3465

4249 -1.77 -135.4 549.8 -11.0 402 4253 0.00 2.58 0.00 0.000 4 0.000 0.067 2148 3366 3462

4292 -1.77 -135.4 555.3 -12.0 405 4299 0.00 2.47 0.00 0.000 6 0.000 0.046 2148 1971 3462

4619 -1.77 -135.4 591.3 -10.9 436 4623 0.00 2.58 0.00 0.000 4 0.000 0.066 2148 3366 3459

4707 -1.77 -135.4 601.3 -10.3 443 4714 0.00 2.50 0.00 0.000 6 0.000 0.047 2148 1960 3458

5034 -1.77 -135.4 633.8 -10.9 474 5038 0.00 2.62 0.00 0.000 4 0.000 0.078 2148 565 3456

5122 -1.77 -135.4 644.5 -11.6 481 5129 0.00 2.47 0.00 0.000 6 0.000 0.044 2148 1974 3456

5254 end dive: TARGET_DEPTH_EXCEEDED

state 5254 begin apogee

5259 -0.38 0.0 660.3 12.1 494 5388 1.55 0.00 121.05 1.068 6 0.117 0.000 2448 1975 2917

5389 end apogee: CONTROL_FINISHED_OK

state 5389 begin climb

5391 1.77 135.4 665.9 0.0 507 5528 2.25 2.72 126.30 1.033 4 0.069 0.072 2931 3399 2365

5555 1.78 141.4 656.5 9.6 521 5567 0.00 2.55 6.65 0.791 6 0.000 0.047 2928 1993 2340

5887 1.79 150.9 625.0 9.4 552 5902 0.00 2.70 9.27 0.881 4 0.000 0.070 2928 3389 2301

5944 1.79 150.9 619.2 10.3 557 5948 0.00 2.53 0.00 0.000 6 0.000 0.048 2928 1990 2300

6270 1.79 150.9 583.3 11.2 587 6271 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 1991 2297

6587 1.79 150.9 547.0 11.4 617 6591 0.00 2.65 0.00 0.000 4 0.000 0.071 2928 3400 2294

6750 1.79 150.9 526.7 12.6 631 6754 0.00 2.53 0.00 0.000 6 0.000 0.048 2928 1993 2293

7076 1.79 150.9 490.7 10.4 661 7080 0.00 2.62 0.00 0.000 4 0.000 0.069 2928 3394 2292

7160 1.79 150.9 481.6 11.0 668 7164 0.00 2.53 0.00 0.000 6 0.000 0.048 2928 1988 2291

7487 1.81 161.9 451.0 9.3 698 7502 0.00 2.72 9.50 0.877 4 0.000 0.077 2928 587 2256

7547 1.81 163.7 444.7 9.9 703 7554 0.00 2.53 0.00 0.000 6 0.000 0.044 2928 2003 2255

7874 1.82 175.3 413.7 9.3 734 7897 0.00 2.70 12.95 0.890 4 0.000 0.072 2928 3392 2202

8014 1.82 175.3 398.2 11.1 746 8021 0.00 2.53 0.00 0.000 6 0.000 0.048 2928 1990 2199

8341 1.84 190.3 367.4 9.1 777 8364 0.00 2.72 14.20 0.873 4 0.000 0.076 2928 590 2141

8399 1.84 190.6 361.6 10.0 782 8403 0.00 2.50 0.00 0.000 6 0.000 0.044 2928 1994 2139

8725 1.89 225.5 335.9 7.9 812 8763 0.10 2.67 32.47 0.876 4 0.061 0.070 2956 3395 1996

8938 1.89 225.5 313.1 10.7 831 8943 0.00 2.53 0.00 0.000 6 0.000 0.047 2956 1989 1990

9265 1.89 225.5 272.7 13.3 861 9269 0.00 2.62 0.00 0.000 4 0.000 0.065 2956 3399 1988

9360 1.89 225.5 261.0 12.0 869 9364 0.00 2.53 0.00 0.000 6 0.000 0.045 2956 1986 1987

9686 1.89 225.5 226.4 10.6 899 9690 0.00 2.60 0.00 0.000 4 0.000 0.062 2956 3391 1986

9893 1.89 225.8 205.6 10.0 917 9898 0.00 2.47 0.00 0.000 6 0.000 0.042 2956 1991 1986

10220 1.89 225.8 172.4 10.8 947 10224 0.00 2.58 0.00 0.000 4 0.000 0.059 2956 3397 1986

10304 1.89 225.8 162.8 11.0 954 10308 0.00 2.47 0.00 0.000 6 0.000 0.039 2956 1986 1986

10630 1.89 225.8 127.7 10.9 984 10632 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 1986 1986

10949 1.90 241.1 97.2 9.1 1014 10972 0.00 2.65 12.55 0.630 4 0.000 0.056 2956 3397 1933

11006 1.90 241.1 91.0 10.7 1019 11011 0.00 2.47 0.00 0.000 6 0.000 0.037 2956 1981 1933

11331 1.92 254.3 61.6 9.2 1049 11350 0.00 0.00 12.80 0.589 6 0.000 0.000 2956 1981 1879

11671 1.99 311.6 39.1 6.6 1081 11728 0.00 2.60 48.50 0.583 4 0.000 0.052 2956 3392 1645

11937 2.00 315.0 16.3 9.8 1107 11950 0.00 2.42 3.85 0.370 6 0.000 0.034 2956 1991 1632

12019 2.00 315.0 7.6 10.0 1121 12024 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 1991 1631

12085 end climb: SURFACE_DEPTH_REACHED

state 12085 begin surface coast

12108 end surface coast: CONTROL_FINISHED_OK

state 12109 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	26	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	450	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	29	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	-106880.44	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	052152,2153.991,-15941.742,11,2.4,30,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	2	KALMAN_CONTROL	0.210,-0.095
_XMS_TOUTs	0	KALMAN_X	-28352.6,-1085.4,3.8,33653.4,-94.4
_SM_DEPTHo	1.13	KALMAN_Y	7193.0,674.7,-54.8,-11001.3,-14.6
_SM_ANGLEo	-51.9	MHEAD_RNG_PITCHd_Wd	104.6,2957,-20.9,-10.000
GPS2	053010,2153.987,-15941.854,12,2.1,31,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.6,1.022939	MM_CLLLayer	0.03
SM_CCo	12130,66.40,0.529,0,0,1082,450.13	MM_CfgFile	0.30
SM_GC	1.22,0.00,0.00,66.40,0.000,0.000,0.529,408,1987,1082,-9.82,0.48,450.13	_24V_AH	23.7,10.591
IRIDIUM_FIX	2141.13,-15934.24,261098,020226	_10V_AH	10.1,4.570
TT8_MAMPS	0.081302	DATA_FILE_SIZE	37830,1137
HUMID	1918	CAP_FILE_SIZE	118855,0
INTERNAL_PRESSURE	7.50029	CFSIZE	260165632,254525440
TCM_TEMP	24.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	010809,085537,2153.539,-15940.270,43,1.8,43,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	189	115.95	SBE_CT	801	24	455.94
Roll_motor	117	78	216.98	nil	0	0	0.00
VBD_pump_during_apogee	410	1068	10384.48	nil	0	0	0.00
VBD_pump_during_surface	66	529	832.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.63	nil	0	0	0.00
Iridium_during_connect	29	160	113.17	GUMSTIX	153	1000	3641.20
Iridium_during_xfer	283	223	1497.75
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	81	1000	1942.00
GPS	32	50	16.35
TT8	2134	18	388.04
LPSleep	7272	0	28.65
TT8_Active	603	18	109.78
TT8_Sampling	2035	38	781.04
TT8_CF8	654	44	290.96
TT8_Kalman	33	80	26.94
Analog_circuits	1655	12	200.63
GPS_charging	0	0	0.00
Compass	1967	8	158.97
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	-1.75	-111.9	0.0	0.0	0	117	0.00	0.00	-96.18	0.000	2	0.000	0.000	401	1897	3300
120	-1.77	-135.4	3.8	-8.6	16	141	10.73	2.42	-2.97	0.000	4	0.189	0.071	2148	565	3470
215	-1.77	-135.4	29.5	-21.3	29	219	0.00	2.40	0.00	0.000	6	0.000	0.030	2148	1982	3472
412	-1.77	-135.4	66.3	-16.7	47	416	0.00	2.55	0.00	0.000	4	0.000	0.057	2148	572	3472
455	-1.77	-135.4	73.9	-16.2	50	462	0.00	2.38	0.00	0.000	6	0.000	0.029	2149	1982	3472
780	-1.77	-135.4	124.9	-16.5	81	785	0.00	2.55	0.00	0.000	4	0.000	0.058	2148	570	3474
835	-1.77	-135.4	133.7	-15.1	85	843	0.00	2.38	0.00	0.000	6	0.000	0.031	2148	1977	3475
1162	-1.77	-135.4	177.7	-13.1	116	1163	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	1978	3476
1479	-1.77	-135.4	218.5	-13.7	146	1480	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	1978	3477
1798	-1.77	-135.4	260.6	-11.9	176	1802	0.00	2.58	0.00	0.000	4	0.000	0.064	2148	567	3477
1825	-1.77	-135.4	264.0	-12.2	178	1830	0.00	2.40	0.00	0.000	6	0.000	0.035	2148	1973	3476
2152	-1.77	-135.4	305.6	-14.3	208	2153	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	1973	3476
2469	-1.77	-135.4	349.5	-12.9	238	2473	0.00	2.53	0.00	0.000	4	0.000	0.062	2148	3363	3476
2542	-1.77	-135.4	359.1	-13.5	244	2546	0.00	2.42	0.00	0.000	6	0.000	0.041	2148	1976	3475
2868	-1.77	-135.4	398.6	-11.8	274	2872	0.00	2.53	0.00	0.000	4	0.000	0.063	2148	3360	3473
2896	-1.77	-135.4	402.2	-12.2	276	2900	0.00	2.45	0.00	0.000	6	0.000	0.043	2148	1961	3473
3229	-1.77	-135.4	438.8	-11.2	307	3235	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	1959	3470
3554	-1.77	-135.4	472.8	-10.4	338	3555	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	1957	3467
3873	-1.77	-135.4	506.8	-10.7	368	3877	0.00	2.62	0.00	0.000	4	0.000	0.077	2148	565	3465
3923	-1.77	-135.4	512.6	-11.5	372	3927	0.00	2.45	0.00	0.000	6	0.000	0.042	2148	1966	3465
4249	-1.77	-135.4	549.8	-11.0	402	4253	0.00	2.58	0.00	0.000	4	0.000	0.067	2148	3366	3462
4292	-1.77	-135.4	555.3	-12.0	405	4299	0.00	2.47	0.00	0.000	6	0.000	0.046	2148	1971	3462
4619	-1.77	-135.4	591.3	-10.9	436	4623	0.00	2.58	0.00	0.000	4	0.000	0.066	2148	3366	3459
4707	-1.77	-135.4	601.3	-10.3	443	4714	0.00	2.50	0.00	0.000	6	0.000	0.047	2148	1960	3458
5034	-1.77	-135.4	633.8	-10.9	474	5038	0.00	2.62	0.00	0.000	4	0.000	0.078	2148	565	3456
5122	-1.77	-135.4	644.5	-11.6	481	5129	0.00	2.47	0.00	0.000	6	0.000	0.044	2148	1974	3456
5254	end dive: TARGET_DEPTH_EXCEEDED
state	5254	begin apogee
5259	-0.38	0.0	660.3	12.1	494	5388	1.55	0.00	121.05	1.068	6	0.117	0.000	2448	1975	2917
5389	end apogee: CONTROL_FINISHED_OK
state	5389	begin climb
5391	1.77	135.4	665.9	0.0	507	5528	2.25	2.72	126.30	1.033	4	0.069	0.072	2931	3399	2365
5555	1.78	141.4	656.5	9.6	521	5567	0.00	2.55	6.65	0.791	6	0.000	0.047	2928	1993	2340
5887	1.79	150.9	625.0	9.4	552	5902	0.00	2.70	9.27	0.881	4	0.000	0.070	2928	3389	2301
5944	1.79	150.9	619.2	10.3	557	5948	0.00	2.53	0.00	0.000	6	0.000	0.048	2928	1990	2300
6270	1.79	150.9	583.3	11.2	587	6271	0.00	0.00	0.00	0.000	6	0.000	0.000	2928	1991	2297
6587	1.79	150.9	547.0	11.4	617	6591	0.00	2.65	0.00	0.000	4	0.000	0.071	2928	3400	2294
6750	1.79	150.9	526.7	12.6	631	6754	0.00	2.53	0.00	0.000	6	0.000	0.048	2928	1993	2293
7076	1.79	150.9	490.7	10.4	661	7080	0.00	2.62	0.00	0.000	4	0.000	0.069	2928	3394	2292
7160	1.79	150.9	481.6	11.0	668	7164	0.00	2.53	0.00	0.000	6	0.000	0.048	2928	1988	2291
7487	1.81	161.9	451.0	9.3	698	7502	0.00	2.72	9.50	0.877	4	0.000	0.077	2928	587	2256
7547	1.81	163.7	444.7	9.9	703	7554	0.00	2.53	0.00	0.000	6	0.000	0.044	2928	2003	2255
7874	1.82	175.3	413.7	9.3	734	7897	0.00	2.70	12.95	0.890	4	0.000	0.072	2928	3392	2202
8014	1.82	175.3	398.2	11.1	746	8021	0.00	2.53	0.00	0.000	6	0.000	0.048	2928	1990	2199
8341	1.84	190.3	367.4	9.1	777	8364	0.00	2.72	14.20	0.873	4	0.000	0.076	2928	590	2141
8399	1.84	190.6	361.6	10.0	782	8403	0.00	2.50	0.00	0.000	6	0.000	0.044	2928	1994	2139
8725	1.89	225.5	335.9	7.9	812	8763	0.10	2.67	32.47	0.876	4	0.061	0.070	2956	3395	1996
8938	1.89	225.5	313.1	10.7	831	8943	0.00	2.53	0.00	0.000	6	0.000	0.047	2956	1989	1990
9265	1.89	225.5	272.7	13.3	861	9269	0.00	2.62	0.00	0.000	4	0.000	0.065	2956	3399	1988
9360	1.89	225.5	261.0	12.0	869	9364	0.00	2.53	0.00	0.000	6	0.000	0.045	2956	1986	1987
9686	1.89	225.5	226.4	10.6	899	9690	0.00	2.60	0.00	0.000	4	0.000	0.062	2956	3391	1986
9893	1.89	225.8	205.6	10.0	917	9898	0.00	2.47	0.00	0.000	6	0.000	0.042	2956	1991	1986
10220	1.89	225.8	172.4	10.8	947	10224	0.00	2.58	0.00	0.000	4	0.000	0.059	2956	3397	1986
10304	1.89	225.8	162.8	11.0	954	10308	0.00	2.47	0.00	0.000	6	0.000	0.039	2956	1986	1986
10630	1.89	225.8	127.7	10.9	984	10632	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	1986	1986
10949	1.90	241.1	97.2	9.1	1014	10972	0.00	2.65	12.55	0.630	4	0.000	0.056	2956	3397	1933
11006	1.90	241.1	91.0	10.7	1019	11011	0.00	2.47	0.00	0.000	6	0.000	0.037	2956	1981	1933
11331	1.92	254.3	61.6	9.2	1049	11350	0.00	0.00	12.80	0.589	6	0.000	0.000	2956	1981	1879
11671	1.99	311.6	39.1	6.6	1081	11728	0.00	2.60	48.50	0.583	4	0.000	0.052	2956	3392	1645
11937	2.00	315.0	16.3	9.8	1107	11950	0.00	2.42	3.85	0.370	6	0.000	0.034	2956	1991	1632
12019	2.00	315.0	7.6	10.0	1121	12024	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	1991	1631
12085	end climb: SURFACE_DEPTH_REACHED
state	12085	begin surface coast
12108	end surface coast: CONTROL_FINISHED_OK
state	12109	begin surface