Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 27 * 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 27 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -106893.28 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 -106893.28

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 26 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 175 R_STBD_OVSHOOT 28 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 27 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 085537,2153.539,-15940.270,43,1.8,43,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 2 KALMAN_CONTROL -0.068,-0.270

_XMS_TOUTs 0 KALMAN_X -29810.7,108.5,-17.0,36416.2,-313.3

_SM_DEPTHo 1.29 KALMAN_Y 8059.8,149.7,150.1,-12249.4,-60.2

_SM_ANGLEo -54.3 MHEAD_RNG_PITCHd_Wd 184.3,6228,-16.8,-10.000

GPS2 090520,2153.610,-15940.413,12,2.0,12,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.5,1.022513 MM_CLLLayer 0.03

SM_CCo 12641,3.28,0.311,0,0,1082,450.13 MM_CfgFile 0.30

SM_GC 1.31,0.00,0.00,3.28,0.000,0.000,0.311,404,1958,1082,-9.83,-0.34,450.13 _24V_AH 23.6,10.785

IRIDIUM_FIX 2145.77,-15940.77,261098,050552 _10V_AH 10.1,4.679

TT8_MAMPS 0.059826 DATA_FILE_SIZE 37772,1191

HUMID 1932 CAP_FILE_SIZE 120807,0

INTERNAL_PRESSURE 7.49052 CFSIZE 260165632,254406656

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 010809,123807,2151.722,-15941.075,34,1.5,34,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 190 115.59 SBE_CT 840 24 475.93

Roll_motor 96 111 254.40 nil 0 0 0.00

VBD_pump_during_apogee 558 1067 14070.56 nil 0 0 0.00

VBD_pump_during_surface 3 310 24.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.66 nil 0 0 0.00

Iridium_during_connect 32 160 121.75 GUMSTIX 161 1000 3800.78

Iridium_during_xfer 359 223 1890.95

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 85 1000 2027.10

GPS 12 50 6.17

TT8 2189 18 397.99

LPSleep 7649 0 30.13

TT8_Active 630 18 114.56

TT8_Sampling 2009 38 771.42

TT8_CF8 750 44 333.56

TT8_Kalman 33 80 26.95

Analog_circuits 1692 12 205.17

GPS_charging 0 0 0.00

Compass 1963 8 158.61

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 -1.50 -170.3 0.0 0.0 0 98 0.00 0.00 -78.97 0.000 2 0.000 0.000 409 1987 3145

101 -1.50 -170.3 3.1 -5.4 13 129 11.12 2.53 -9.00 0.000 4 0.190 0.067 2210 561 3614

224 -1.50 -170.3 30.3 -18.7 29 231 0.00 2.42 0.00 0.000 6 0.000 0.030 2208 1988 3616

422 -1.50 -170.3 60.2 -13.4 48 426 0.00 2.58 0.00 0.000 4 0.000 0.057 2208 568 3616

477 -1.50 -170.3 69.6 -16.8 52 484 0.00 2.38 0.00 0.000 6 0.000 0.030 2208 1970 3617

802 -1.50 -170.3 114.6 -13.5 83 806 0.00 2.47 0.00 0.000 4 0.000 0.051 2208 3361 3619

931 -1.50 -170.3 133.3 -14.4 94 935 0.00 2.40 0.00 0.000 6 0.000 0.035 2210 1966 3620

1262 -1.50 -170.3 180.2 -13.7 125 1263 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1966 3620

1579 -1.50 -170.3 218.0 -11.1 155 1581 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1966 3620

1898 -1.50 -170.3 254.3 -10.7 185 1902 0.00 2.58 0.00 0.000 4 0.000 0.069 2208 571 3621

1960 -1.50 -170.3 261.0 -10.7 190 1964 0.00 2.40 0.00 0.000 6 0.000 0.036 2208 1968 3620

2286 -1.50 -170.3 298.2 -11.4 220 2290 0.00 2.53 0.00 0.000 4 0.000 0.061 2208 3365 3621

2306 -1.50 -170.3 300.9 -11.2 221 2314 0.00 2.45 0.00 0.000 6 0.000 0.040 2208 1964 3620

2633 -1.50 -170.3 336.3 -11.8 252 2634 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1964 3619

2950 -1.50 -170.3 375.5 -12.5 282 2951 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1964 3617

3269 -1.50 -170.3 410.6 -10.5 312 3270 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1962 3615

3588 -1.50 -170.3 442.9 -9.9 342 3589 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 1961 3612

3906 -1.50 -170.3 476.3 -10.4 372 3907 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1960 3610

4224 -1.50 -170.3 509.6 -10.7 402 4226 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1960 3608

4543 -1.50 -170.3 543.6 -10.1 432 4544 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1959 3604

4862 -1.50 -170.3 576.6 -10.5 462 4863 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 1959 3602

5180 -1.50 -170.3 608.4 -10.5 492 5185 0.00 2.60 0.00 0.000 4 0.000 0.069 2208 3364 3600

5254 -1.50 -170.3 615.9 -10.2 498 5258 0.00 2.50 0.00 0.000 6 0.000 0.048 2208 1965 3599

5580 -1.50 -170.3 644.2 -9.6 528 5585 0.00 2.65 0.00 0.000 4 0.000 0.079 2209 562 3597

5632 -1.50 -170.3 649.4 -10.0 532 5636 0.00 2.47 0.00 0.000 6 0.000 0.045 2208 1965 3597

5742 end dive: TARGET_DEPTH_EXCEEDED

state 5742 begin apogee

5747 -0.38 0.0 661.0 10.4 542 5906 1.23 0.00 152.82 1.068 6 0.110 0.000 2449 1968 2917

5907 end apogee: CONTROL_FINISHED_OK

state 5907 begin climb

5910 1.50 170.3 667.0 0.0 558 6082 1.98 2.75 158.25 1.029 4 0.069 0.071 2871 3394 2222

6128 1.52 182.2 654.3 9.5 577 6144 0.00 2.55 11.60 0.896 6 0.000 0.048 2871 1990 2174

6464 1.54 199.6 622.4 9.3 608 6488 0.00 2.67 16.83 0.955 4 0.000 0.077 2871 585 2102

6526 1.54 199.6 615.8 11.5 613 6533 0.00 2.53 0.00 0.000 6 0.000 0.044 2871 1995 2100

6853 1.58 227.5 586.1 8.9 644 6888 0.00 2.70 26.77 0.989 4 0.000 0.073 2871 3397 1989

7007 1.58 227.5 570.1 10.8 657 7014 0.00 2.55 0.00 0.000 6 0.000 0.048 2871 1989 1985

7334 1.58 228.6 537.9 10.0 688 7338 0.00 2.62 0.00 0.000 4 0.000 0.068 2871 3391 1982

7373 1.58 228.6 533.6 10.8 691 7377 0.00 2.53 0.00 0.000 6 0.000 0.048 2871 1990 1982

7699 1.58 228.9 499.3 10.0 721 7700 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 1990 1979

8016 1.60 250.8 469.2 9.1 751 8043 0.00 2.72 21.10 0.946 4 0.000 0.068 2871 3393 1894

8073 1.64 284.0 464.5 8.7 756 8111 0.12 2.55 32.03 0.946 6 0.056 0.048 2904 1986 1759

8436 1.64 284.0 427.6 10.6 790 8437 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1986 1750

8755 1.64 284.0 389.1 12.5 820 8756 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1986 1748

9073 1.64 284.0 351.3 11.0 850 9078 0.00 2.62 0.00 0.000 4 0.000 0.067 2904 3392 1747

9113 1.64 284.0 346.8 11.9 853 9118 0.00 2.50 0.00 0.000 6 0.000 0.046 2904 1992 1747

9439 1.64 284.0 312.7 10.6 883 9444 0.00 2.65 0.00 0.000 4 0.000 0.076 2904 589 1746

9479 1.64 284.0 308.1 11.7 886 9483 0.00 2.50 0.00 0.000 6 0.000 0.041 2904 2006 1745

9805 1.64 284.0 271.8 11.7 916 9809 0.00 2.58 0.00 0.000 4 0.000 0.067 2904 3397 1745

9894 1.64 284.0 261.1 11.0 923 9901 0.00 2.50 0.00 0.000 6 0.000 0.044 2904 1993 1745

10221 1.65 286.6 227.9 9.9 954 10222 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1993 1744

10539 1.67 301.9 196.7 9.4 984 10562 0.00 2.70 14.52 0.744 4 0.000 0.071 2904 588 1685

10601 1.67 301.9 190.4 10.1 989 10608 0.00 2.47 0.00 0.000 6 0.000 0.038 2904 2002 1684

10928 1.70 328.7 162.4 8.9 1020 10962 0.00 2.65 24.48 0.725 4 0.000 0.060 2904 3394 1576

11057 1.70 328.7 148.8 10.9 1031 11064 0.00 2.50 0.00 0.000 6 0.000 0.039 2904 1979 1573

11382 1.70 328.7 117.3 10.0 1062 11383 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1979 1572

11703 1.72 348.7 89.2 9.2 1092 11727 0.00 2.58 18.00 0.628 4 0.000 0.053 2904 3389 1495

11772 1.72 348.7 82.4 10.4 1098 11777 0.00 2.45 0.00 0.000 6 0.000 0.036 2904 1988 1493

12099 1.77 385.3 53.1 8.6 1128 12138 0.10 2.62 32.40 0.594 4 0.051 0.062 2945 584 1346

12251 1.77 385.3 36.7 11.2 1141 12258 0.00 2.42 0.00 0.000 6 0.000 0.031 2945 2001 1342

12449 1.77 385.3 16.3 11.1 1162 12455 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2001 1341

12524 1.84 443.0 9.2 7.7 1175 12580 0.00 0.00 49.62 0.548 6 0.000 0.000 2945 2001 1109

12600 end climb: SURFACE_DEPTH_REACHED

state 12601 begin surface coast

12619 end surface coast: CONTROL_FINISHED_OK

state 12619 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	27	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-106893.28	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	085537,2153.539,-15940.270,43,1.8,43,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	2	KALMAN_CONTROL	-0.068,-0.270
_XMS_TOUTs	0	KALMAN_X	-29810.7,108.5,-17.0,36416.2,-313.3
_SM_DEPTHo	1.29	KALMAN_Y	8059.8,149.7,150.1,-12249.4,-60.2
_SM_ANGLEo	-54.3	MHEAD_RNG_PITCHd_Wd	184.3,6228,-16.8,-10.000
GPS2	090520,2153.610,-15940.413,12,2.0,12,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.5,1.022513	MM_CLLLayer	0.03
SM_CCo	12641,3.28,0.311,0,0,1082,450.13	MM_CfgFile	0.30
SM_GC	1.31,0.00,0.00,3.28,0.000,0.000,0.311,404,1958,1082,-9.83,-0.34,450.13	_24V_AH	23.6,10.785
IRIDIUM_FIX	2145.77,-15940.77,261098,050552	_10V_AH	10.1,4.679
TT8_MAMPS	0.059826	DATA_FILE_SIZE	37772,1191
HUMID	1932	CAP_FILE_SIZE	120807,0
INTERNAL_PRESSURE	7.49052	CFSIZE	260165632,254406656
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	010809,123807,2151.722,-15941.075,34,1.5,34,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	190	115.59	SBE_CT	840	24	475.93
Roll_motor	96	111	254.40	nil	0	0	0.00
VBD_pump_during_apogee	558	1067	14070.56	nil	0	0	0.00
VBD_pump_during_surface	3	310	24.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.66	nil	0	0	0.00
Iridium_during_connect	32	160	121.75	GUMSTIX	161	1000	3800.78
Iridium_during_xfer	359	223	1890.95
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	85	1000	2027.10
GPS	12	50	6.17
TT8	2189	18	397.99
LPSleep	7649	0	30.13
TT8_Active	630	18	114.56
TT8_Sampling	2009	38	771.42
TT8_CF8	750	44	333.56
TT8_Kalman	33	80	26.95
Analog_circuits	1692	12	205.17
GPS_charging	0	0	0.00
Compass	1963	8	158.61
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	-1.50	-170.3	0.0	0.0	0	98	0.00	0.00	-78.97	0.000	2	0.000	0.000	409	1987	3145
101	-1.50	-170.3	3.1	-5.4	13	129	11.12	2.53	-9.00	0.000	4	0.190	0.067	2210	561	3614
224	-1.50	-170.3	30.3	-18.7	29	231	0.00	2.42	0.00	0.000	6	0.000	0.030	2208	1988	3616
422	-1.50	-170.3	60.2	-13.4	48	426	0.00	2.58	0.00	0.000	4	0.000	0.057	2208	568	3616
477	-1.50	-170.3	69.6	-16.8	52	484	0.00	2.38	0.00	0.000	6	0.000	0.030	2208	1970	3617
802	-1.50	-170.3	114.6	-13.5	83	806	0.00	2.47	0.00	0.000	4	0.000	0.051	2208	3361	3619
931	-1.50	-170.3	133.3	-14.4	94	935	0.00	2.40	0.00	0.000	6	0.000	0.035	2210	1966	3620
1262	-1.50	-170.3	180.2	-13.7	125	1263	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1966	3620
1579	-1.50	-170.3	218.0	-11.1	155	1581	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1966	3620
1898	-1.50	-170.3	254.3	-10.7	185	1902	0.00	2.58	0.00	0.000	4	0.000	0.069	2208	571	3621
1960	-1.50	-170.3	261.0	-10.7	190	1964	0.00	2.40	0.00	0.000	6	0.000	0.036	2208	1968	3620
2286	-1.50	-170.3	298.2	-11.4	220	2290	0.00	2.53	0.00	0.000	4	0.000	0.061	2208	3365	3621
2306	-1.50	-170.3	300.9	-11.2	221	2314	0.00	2.45	0.00	0.000	6	0.000	0.040	2208	1964	3620
2633	-1.50	-170.3	336.3	-11.8	252	2634	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1964	3619
2950	-1.50	-170.3	375.5	-12.5	282	2951	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1964	3617
3269	-1.50	-170.3	410.6	-10.5	312	3270	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1962	3615
3588	-1.50	-170.3	442.9	-9.9	342	3589	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	1961	3612
3906	-1.50	-170.3	476.3	-10.4	372	3907	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1960	3610
4224	-1.50	-170.3	509.6	-10.7	402	4226	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1960	3608
4543	-1.50	-170.3	543.6	-10.1	432	4544	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1959	3604
4862	-1.50	-170.3	576.6	-10.5	462	4863	0.00	0.00	0.00	0.000	6	0.000	0.000	2208	1959	3602
5180	-1.50	-170.3	608.4	-10.5	492	5185	0.00	2.60	0.00	0.000	4	0.000	0.069	2208	3364	3600
5254	-1.50	-170.3	615.9	-10.2	498	5258	0.00	2.50	0.00	0.000	6	0.000	0.048	2208	1965	3599
5580	-1.50	-170.3	644.2	-9.6	528	5585	0.00	2.65	0.00	0.000	4	0.000	0.079	2209	562	3597
5632	-1.50	-170.3	649.4	-10.0	532	5636	0.00	2.47	0.00	0.000	6	0.000	0.045	2208	1965	3597
5742	end dive: TARGET_DEPTH_EXCEEDED
state	5742	begin apogee
5747	-0.38	0.0	661.0	10.4	542	5906	1.23	0.00	152.82	1.068	6	0.110	0.000	2449	1968	2917
5907	end apogee: CONTROL_FINISHED_OK
state	5907	begin climb
5910	1.50	170.3	667.0	0.0	558	6082	1.98	2.75	158.25	1.029	4	0.069	0.071	2871	3394	2222
6128	1.52	182.2	654.3	9.5	577	6144	0.00	2.55	11.60	0.896	6	0.000	0.048	2871	1990	2174
6464	1.54	199.6	622.4	9.3	608	6488	0.00	2.67	16.83	0.955	4	0.000	0.077	2871	585	2102
6526	1.54	199.6	615.8	11.5	613	6533	0.00	2.53	0.00	0.000	6	0.000	0.044	2871	1995	2100
6853	1.58	227.5	586.1	8.9	644	6888	0.00	2.70	26.77	0.989	4	0.000	0.073	2871	3397	1989
7007	1.58	227.5	570.1	10.8	657	7014	0.00	2.55	0.00	0.000	6	0.000	0.048	2871	1989	1985
7334	1.58	228.6	537.9	10.0	688	7338	0.00	2.62	0.00	0.000	4	0.000	0.068	2871	3391	1982
7373	1.58	228.6	533.6	10.8	691	7377	0.00	2.53	0.00	0.000	6	0.000	0.048	2871	1990	1982
7699	1.58	228.9	499.3	10.0	721	7700	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	1990	1979
8016	1.60	250.8	469.2	9.1	751	8043	0.00	2.72	21.10	0.946	4	0.000	0.068	2871	3393	1894
8073	1.64	284.0	464.5	8.7	756	8111	0.12	2.55	32.03	0.946	6	0.056	0.048	2904	1986	1759
8436	1.64	284.0	427.6	10.6	790	8437	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	1986	1750
8755	1.64	284.0	389.1	12.5	820	8756	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	1986	1748
9073	1.64	284.0	351.3	11.0	850	9078	0.00	2.62	0.00	0.000	4	0.000	0.067	2904	3392	1747
9113	1.64	284.0	346.8	11.9	853	9118	0.00	2.50	0.00	0.000	6	0.000	0.046	2904	1992	1747
9439	1.64	284.0	312.7	10.6	883	9444	0.00	2.65	0.00	0.000	4	0.000	0.076	2904	589	1746
9479	1.64	284.0	308.1	11.7	886	9483	0.00	2.50	0.00	0.000	6	0.000	0.041	2904	2006	1745
9805	1.64	284.0	271.8	11.7	916	9809	0.00	2.58	0.00	0.000	4	0.000	0.067	2904	3397	1745
9894	1.64	284.0	261.1	11.0	923	9901	0.00	2.50	0.00	0.000	6	0.000	0.044	2904	1993	1745
10221	1.65	286.6	227.9	9.9	954	10222	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	1993	1744
10539	1.67	301.9	196.7	9.4	984	10562	0.00	2.70	14.52	0.744	4	0.000	0.071	2904	588	1685
10601	1.67	301.9	190.4	10.1	989	10608	0.00	2.47	0.00	0.000	6	0.000	0.038	2904	2002	1684
10928	1.70	328.7	162.4	8.9	1020	10962	0.00	2.65	24.48	0.725	4	0.000	0.060	2904	3394	1576
11057	1.70	328.7	148.8	10.9	1031	11064	0.00	2.50	0.00	0.000	6	0.000	0.039	2904	1979	1573
11382	1.70	328.7	117.3	10.0	1062	11383	0.00	0.00	0.00	0.000	6	0.000	0.000	2904	1979	1572
11703	1.72	348.7	89.2	9.2	1092	11727	0.00	2.58	18.00	0.628	4	0.000	0.053	2904	3389	1495
11772	1.72	348.7	82.4	10.4	1098	11777	0.00	2.45	0.00	0.000	6	0.000	0.036	2904	1988	1493
12099	1.77	385.3	53.1	8.6	1128	12138	0.10	2.62	32.40	0.594	4	0.051	0.062	2945	584	1346
12251	1.77	385.3	36.7	11.2	1141	12258	0.00	2.42	0.00	0.000	6	0.000	0.031	2945	2001	1342
12449	1.77	385.3	16.3	11.1	1162	12455	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2001	1341
12524	1.84	443.0	9.2	7.7	1175	12580	0.00	0.00	49.62	0.548	6	0.000	0.000	2945	2001	1109
12600	end climb: SURFACE_DEPTH_REACHED
state	12601	begin surface coast
12619	end surface coast: CONTROL_FINISHED_OK
state	12619	begin surface