Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 28 * 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 28 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 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 -106927.32 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 -106927.32

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 30 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 175 R_STBD_OVSHOOT 40 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 28 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 123807,2151.722,-15941.075,34,1.5,34,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.058,-0.209

_XMS_TOUTs 0 KALMAN_X -31339.2,1178.4,-37.6,35515.8,-1355.7

_SM_DEPTHo 1.34 KALMAN_Y 8870.1,-458.6,117.5,-15816.3,255.6

_SM_ANGLEo -54.7 MHEAD_RNG_PITCHd_Wd 154.7,2577,-22.2,-10.000

GPS2 124731,2151.774,-15941.216,14,1.7,31,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.8,1.022941 MM_CLLLayer 0.03

SM_CCo 11630,83.35,0.522,0,0,1081,450.13 MM_CfgFile 0.30

SM_GC 1.38,0.00,0.00,83.35,0.000,0.000,0.522,409,1958,1081,-9.81,-0.34,450.13 _24V_AH 23.6,10.944

IRIDIUM_FIX 2145.77,-15940.77,261098,090900 _10V_AH 10.1,4.781

TT8_MAMPS 0.079768 DATA_FILE_SIZE 34671,1088

HUMID 1872 CAP_FILE_SIZE 117915,0

INTERNAL_PRESSURE 7.49052 CFSIZE 260165632,254308352

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 010809,160437,2150.370,-15941.706,24,1.8,24,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 189 116.69 SBE_CT 767 24 434.82

Roll_motor 121 75 217.82 nil 0 0 0.00

VBD_pump_during_apogee 385 1063 9660.86 nil 0 0 0.00

VBD_pump_during_surface 83 522 1027.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.01 nil 0 0 0.00

Iridium_during_connect 25 160 97.28 GUMSTIX 147 1000 3488.20

Iridium_during_xfer 334 223 1761.79

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 78 1000 1860.41

GPS 33 50 16.87

TT8 2068 18 375.99

LPSleep 6927 0 27.29

TT8_Active 594 18 108.10

TT8_Sampling 1975 38 758.37

TT8_CF8 711 44 316.33

TT8_Kalman 33 80 26.95

Analog_circuits 1602 12 194.21

GPS_charging 0 0 0.00

Compass 1907 8 154.17

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 -1.83 -99.0 0.0 0.0 0 104 0.00 0.00 -85.22 0.000 2 0.000 0.000 404 1958 3317

108 -1.88 -141.1 3.7 -7.2 14 129 10.60 2.53 -3.20 0.000 4 0.189 0.068 2124 572 3495

195 -1.88 -141.1 28.5 -22.7 26 203 0.00 2.38 0.00 0.000 6 0.000 0.030 2124 1967 3496

393 -1.88 -141.1 68.1 -17.9 45 397 0.00 2.55 0.00 0.000 4 0.000 0.058 2125 563 3497

478 -1.88 -141.1 83.9 -18.0 52 482 0.00 2.40 0.00 0.000 6 0.000 0.030 2124 1980 3498

804 -1.88 -141.1 140.6 -17.6 82 805 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 1986 3500

1123 -1.88 -141.1 188.3 -15.9 112 1124 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 1986 3502

1440 -1.88 -141.1 236.4 -14.5 142 1444 0.00 2.58 0.00 0.000 4 0.000 0.064 2124 575 3503

1479 -1.88 -141.1 242.2 -15.4 145 1483 0.00 2.40 0.00 0.000 6 0.000 0.035 2124 1977 3503

1805 -1.88 -141.1 288.8 -13.5 175 1809 0.00 2.50 0.00 0.000 4 0.000 0.059 2125 3363 3503

1833 -1.88 -141.1 292.8 -14.3 177 1837 0.00 2.42 0.00 0.000 6 0.000 0.039 2124 1969 3503

2159 -1.88 -141.1 336.4 -12.9 207 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 1969 3503

2476 -1.88 -141.1 378.1 -13.3 237 2480 0.00 2.60 0.00 0.000 4 0.000 0.071 2124 569 3500

2526 -1.88 -141.1 385.1 -14.1 241 2531 0.00 2.42 0.00 0.000 6 0.000 0.038 2124 1967 3500

2852 -1.88 -141.1 427.1 -12.1 271 2857 0.00 2.58 0.00 0.000 4 0.000 0.065 2124 3372 3498

2903 -1.88 -141.1 433.8 -12.3 275 2908 0.00 2.47 0.00 0.000 6 0.000 0.044 2124 1967 3497

3230 -1.88 -141.1 474.4 -12.1 305 3234 0.00 2.62 0.00 0.000 4 0.000 0.075 2125 567 3495

3363 -1.88 -141.1 492.2 -13.5 316 3370 0.00 2.45 0.00 0.000 6 0.000 0.041 2124 1969 3494

3690 -1.88 -141.1 531.5 -11.9 347 3694 0.00 2.58 0.00 0.000 4 0.000 0.067 2124 3368 3492

3722 -1.88 -141.1 535.8 -12.8 349 3729 0.00 2.47 0.00 0.000 6 0.000 0.045 2124 1972 3493

4048 -1.88 -141.1 571.8 -10.7 380 4053 0.00 2.58 0.00 0.000 4 0.000 0.064 2124 3367 3488

4137 -1.88 -141.1 582.0 -10.4 387 4144 0.00 2.47 0.00 0.000 6 0.000 0.045 2124 1971 3488

4464 -1.88 -141.2 614.5 -10.0 418 4469 0.00 2.62 0.00 0.000 4 0.000 0.076 2124 568 3485

4486 -1.88 -141.2 616.9 -10.3 419 4493 0.00 2.47 0.00 0.000 6 0.000 0.042 2124 1978 3485

4812 -1.88 -141.2 653.4 -12.1 450 4813 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 1978 3482

4872 end dive: TARGET_DEPTH_EXCEEDED

state 4872 begin apogee

4878 -0.38 0.0 660.9 11.8 456 5016 1.73 0.00 128.18 1.063 6 0.123 0.000 2452 1979 2917

5017 end apogee: CONTROL_FINISHED_OK

state 5017 begin climb

5019 1.88 141.2 665.9 0.0 470 5161 2.35 2.70 132.05 1.026 4 0.067 0.070 2953 3389 2340

5195 1.88 141.2 653.8 10.9 486 5200 0.00 2.53 0.00 0.000 6 0.000 0.046 2953 1993 2337

5521 1.88 141.2 618.1 10.7 516 5526 0.00 2.62 0.00 0.000 4 0.000 0.068 2953 3389 2330

5666 1.88 141.2 601.7 11.3 528 5673 0.00 2.50 0.00 0.000 6 0.000 0.046 2953 1994 2329

5993 1.90 150.3 570.0 9.4 559 6006 0.00 2.67 7.10 0.840 4 0.000 0.075 2953 587 2304

6052 1.90 150.3 563.7 11.4 564 6056 0.00 2.53 0.00 0.000 6 0.000 0.044 2953 2004 2303

6378 1.90 150.3 528.5 11.3 594 6382 0.00 2.60 0.00 0.000 4 0.000 0.071 2954 3392 2301

6589 1.90 150.3 502.3 11.6 612 6596 0.00 2.50 0.00 0.000 6 0.000 0.047 2953 1995 2300

6916 1.90 150.3 465.4 11.0 643 6920 0.00 2.60 0.00 0.000 4 0.000 0.067 2953 3389 2299

7067 1.90 150.3 448.2 12.1 656 7072 0.00 2.50 0.00 0.000 6 0.000 0.047 2953 1992 2298

7394 1.91 159.3 416.0 9.4 686 7407 0.00 2.72 8.45 0.842 4 0.000 0.075 2953 589 2268

7547 1.91 159.3 400.0 10.4 699 7554 0.00 2.50 0.00 0.000 6 0.000 0.043 2954 2000 2265

7873 1.93 175.0 371.5 8.9 730 7897 0.00 2.65 15.00 0.880 4 0.000 0.067 2953 3398 2203

8034 1.93 175.0 355.1 10.3 744 8038 0.00 2.53 0.00 0.000 6 0.000 0.045 2953 1988 2200

8360 1.93 177.5 320.6 9.8 774 8364 0.00 2.60 0.00 0.000 4 0.000 0.064 2954 3390 2198

8482 1.95 194.9 308.2 8.8 784 8506 0.00 2.50 18.33 0.841 6 0.000 0.044 2954 1985 2122

8825 1.96 204.4 276.6 9.4 816 8841 0.00 2.65 9.15 0.756 4 0.000 0.061 2953 3385 2085

8904 1.96 204.4 268.2 11.4 823 8909 0.00 2.47 0.00 0.000 6 0.000 0.042 2954 1993 2082

9231 1.98 218.3 237.0 9.1 853 9250 0.00 0.00 13.68 0.760 6 0.000 0.000 2954 1992 2025

9569 1.98 218.3 204.1 10.8 885 9574 0.00 2.58 0.00 0.000 4 0.000 0.057 2953 3401 2022

9688 1.98 218.3 190.0 12.8 895 9692 0.00 2.45 0.00 0.000 6 0.000 0.038 2953 1992 2022

10021 1.98 218.3 151.1 10.2 926 10025 0.00 2.55 0.00 0.000 4 0.000 0.055 2953 3396 2021

10105 1.98 218.3 142.1 10.4 933 10109 0.00 2.45 0.00 0.000 6 0.000 0.036 2954 1988 2021

10430 1.99 228.8 112.3 9.3 963 10446 0.10 2.60 9.68 0.611 4 0.058 0.054 2985 3388 1984

10591 1.99 228.8 94.1 11.7 977 10598 0.00 2.42 0.00 0.000 6 0.000 0.035 2985 1991 1983

10918 2.00 239.2 62.8 9.3 1008 10931 0.00 0.00 10.52 0.564 6 0.000 0.000 2985 1990 1941

11247 2.05 277.3 36.1 7.4 1039 11285 0.00 2.60 32.95 0.568 4 0.000 0.061 2985 594 1785

11348 2.05 277.3 25.7 11.6 1048 11352 0.00 2.42 0.00 0.000 6 0.000 0.030 2985 2014 1783

11554 2.05 277.3 6.9 10.9 1079 11561 0.00 2.47 0.00 0.000 4 0.000 0.054 2985 3392 1782

11599 end climb: SURFACE_DEPTH_REACHED

state 11599 begin surface coast

11605 end surface coast: CONTROL_FINISHED_OK

state 11605 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	28	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	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	-106927.32	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	123807,2151.722,-15941.075,34,1.5,34,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.058,-0.209
_XMS_TOUTs	0	KALMAN_X	-31339.2,1178.4,-37.6,35515.8,-1355.7
_SM_DEPTHo	1.34	KALMAN_Y	8870.1,-458.6,117.5,-15816.3,255.6
_SM_ANGLEo	-54.7	MHEAD_RNG_PITCHd_Wd	154.7,2577,-22.2,-10.000
GPS2	124731,2151.774,-15941.216,14,1.7,31,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.8,1.022941	MM_CLLLayer	0.03
SM_CCo	11630,83.35,0.522,0,0,1081,450.13	MM_CfgFile	0.30
SM_GC	1.38,0.00,0.00,83.35,0.000,0.000,0.522,409,1958,1081,-9.81,-0.34,450.13	_24V_AH	23.6,10.944
IRIDIUM_FIX	2145.77,-15940.77,261098,090900	_10V_AH	10.1,4.781
TT8_MAMPS	0.079768	DATA_FILE_SIZE	34671,1088
HUMID	1872	CAP_FILE_SIZE	117915,0
INTERNAL_PRESSURE	7.49052	CFSIZE	260165632,254308352
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	010809,160437,2150.370,-15941.706,24,1.8,24,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	189	116.69	SBE_CT	767	24	434.82
Roll_motor	121	75	217.82	nil	0	0	0.00
VBD_pump_during_apogee	385	1063	9660.86	nil	0	0	0.00
VBD_pump_during_surface	83	522	1027.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.01	nil	0	0	0.00
Iridium_during_connect	25	160	97.28	GUMSTIX	147	1000	3488.20
Iridium_during_xfer	334	223	1761.79
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	78	1000	1860.41
GPS	33	50	16.87
TT8	2068	18	375.99
LPSleep	6927	0	27.29
TT8_Active	594	18	108.10
TT8_Sampling	1975	38	758.37
TT8_CF8	711	44	316.33
TT8_Kalman	33	80	26.95
Analog_circuits	1602	12	194.21
GPS_charging	0	0	0.00
Compass	1907	8	154.17
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	-1.83	-99.0	0.0	0.0	0	104	0.00	0.00	-85.22	0.000	2	0.000	0.000	404	1958	3317
108	-1.88	-141.1	3.7	-7.2	14	129	10.60	2.53	-3.20	0.000	4	0.189	0.068	2124	572	3495
195	-1.88	-141.1	28.5	-22.7	26	203	0.00	2.38	0.00	0.000	6	0.000	0.030	2124	1967	3496
393	-1.88	-141.1	68.1	-17.9	45	397	0.00	2.55	0.00	0.000	4	0.000	0.058	2125	563	3497
478	-1.88	-141.1	83.9	-18.0	52	482	0.00	2.40	0.00	0.000	6	0.000	0.030	2124	1980	3498
804	-1.88	-141.1	140.6	-17.6	82	805	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	1986	3500
1123	-1.88	-141.1	188.3	-15.9	112	1124	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	1986	3502
1440	-1.88	-141.1	236.4	-14.5	142	1444	0.00	2.58	0.00	0.000	4	0.000	0.064	2124	575	3503
1479	-1.88	-141.1	242.2	-15.4	145	1483	0.00	2.40	0.00	0.000	6	0.000	0.035	2124	1977	3503
1805	-1.88	-141.1	288.8	-13.5	175	1809	0.00	2.50	0.00	0.000	4	0.000	0.059	2125	3363	3503
1833	-1.88	-141.1	292.8	-14.3	177	1837	0.00	2.42	0.00	0.000	6	0.000	0.039	2124	1969	3503
2159	-1.88	-141.1	336.4	-12.9	207	2160	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	1969	3503
2476	-1.88	-141.1	378.1	-13.3	237	2480	0.00	2.60	0.00	0.000	4	0.000	0.071	2124	569	3500
2526	-1.88	-141.1	385.1	-14.1	241	2531	0.00	2.42	0.00	0.000	6	0.000	0.038	2124	1967	3500
2852	-1.88	-141.1	427.1	-12.1	271	2857	0.00	2.58	0.00	0.000	4	0.000	0.065	2124	3372	3498
2903	-1.88	-141.1	433.8	-12.3	275	2908	0.00	2.47	0.00	0.000	6	0.000	0.044	2124	1967	3497
3230	-1.88	-141.1	474.4	-12.1	305	3234	0.00	2.62	0.00	0.000	4	0.000	0.075	2125	567	3495
3363	-1.88	-141.1	492.2	-13.5	316	3370	0.00	2.45	0.00	0.000	6	0.000	0.041	2124	1969	3494
3690	-1.88	-141.1	531.5	-11.9	347	3694	0.00	2.58	0.00	0.000	4	0.000	0.067	2124	3368	3492
3722	-1.88	-141.1	535.8	-12.8	349	3729	0.00	2.47	0.00	0.000	6	0.000	0.045	2124	1972	3493
4048	-1.88	-141.1	571.8	-10.7	380	4053	0.00	2.58	0.00	0.000	4	0.000	0.064	2124	3367	3488
4137	-1.88	-141.1	582.0	-10.4	387	4144	0.00	2.47	0.00	0.000	6	0.000	0.045	2124	1971	3488
4464	-1.88	-141.2	614.5	-10.0	418	4469	0.00	2.62	0.00	0.000	4	0.000	0.076	2124	568	3485
4486	-1.88	-141.2	616.9	-10.3	419	4493	0.00	2.47	0.00	0.000	6	0.000	0.042	2124	1978	3485
4812	-1.88	-141.2	653.4	-12.1	450	4813	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	1978	3482
4872	end dive: TARGET_DEPTH_EXCEEDED
state	4872	begin apogee
4878	-0.38	0.0	660.9	11.8	456	5016	1.73	0.00	128.18	1.063	6	0.123	0.000	2452	1979	2917
5017	end apogee: CONTROL_FINISHED_OK
state	5017	begin climb
5019	1.88	141.2	665.9	0.0	470	5161	2.35	2.70	132.05	1.026	4	0.067	0.070	2953	3389	2340
5195	1.88	141.2	653.8	10.9	486	5200	0.00	2.53	0.00	0.000	6	0.000	0.046	2953	1993	2337
5521	1.88	141.2	618.1	10.7	516	5526	0.00	2.62	0.00	0.000	4	0.000	0.068	2953	3389	2330
5666	1.88	141.2	601.7	11.3	528	5673	0.00	2.50	0.00	0.000	6	0.000	0.046	2953	1994	2329
5993	1.90	150.3	570.0	9.4	559	6006	0.00	2.67	7.10	0.840	4	0.000	0.075	2953	587	2304
6052	1.90	150.3	563.7	11.4	564	6056	0.00	2.53	0.00	0.000	6	0.000	0.044	2953	2004	2303
6378	1.90	150.3	528.5	11.3	594	6382	0.00	2.60	0.00	0.000	4	0.000	0.071	2954	3392	2301
6589	1.90	150.3	502.3	11.6	612	6596	0.00	2.50	0.00	0.000	6	0.000	0.047	2953	1995	2300
6916	1.90	150.3	465.4	11.0	643	6920	0.00	2.60	0.00	0.000	4	0.000	0.067	2953	3389	2299
7067	1.90	150.3	448.2	12.1	656	7072	0.00	2.50	0.00	0.000	6	0.000	0.047	2953	1992	2298
7394	1.91	159.3	416.0	9.4	686	7407	0.00	2.72	8.45	0.842	4	0.000	0.075	2953	589	2268
7547	1.91	159.3	400.0	10.4	699	7554	0.00	2.50	0.00	0.000	6	0.000	0.043	2954	2000	2265
7873	1.93	175.0	371.5	8.9	730	7897	0.00	2.65	15.00	0.880	4	0.000	0.067	2953	3398	2203
8034	1.93	175.0	355.1	10.3	744	8038	0.00	2.53	0.00	0.000	6	0.000	0.045	2953	1988	2200
8360	1.93	177.5	320.6	9.8	774	8364	0.00	2.60	0.00	0.000	4	0.000	0.064	2954	3390	2198
8482	1.95	194.9	308.2	8.8	784	8506	0.00	2.50	18.33	0.841	6	0.000	0.044	2954	1985	2122
8825	1.96	204.4	276.6	9.4	816	8841	0.00	2.65	9.15	0.756	4	0.000	0.061	2953	3385	2085
8904	1.96	204.4	268.2	11.4	823	8909	0.00	2.47	0.00	0.000	6	0.000	0.042	2954	1993	2082
9231	1.98	218.3	237.0	9.1	853	9250	0.00	0.00	13.68	0.760	6	0.000	0.000	2954	1992	2025
9569	1.98	218.3	204.1	10.8	885	9574	0.00	2.58	0.00	0.000	4	0.000	0.057	2953	3401	2022
9688	1.98	218.3	190.0	12.8	895	9692	0.00	2.45	0.00	0.000	6	0.000	0.038	2953	1992	2022
10021	1.98	218.3	151.1	10.2	926	10025	0.00	2.55	0.00	0.000	4	0.000	0.055	2953	3396	2021
10105	1.98	218.3	142.1	10.4	933	10109	0.00	2.45	0.00	0.000	6	0.000	0.036	2954	1988	2021
10430	1.99	228.8	112.3	9.3	963	10446	0.10	2.60	9.68	0.611	4	0.058	0.054	2985	3388	1984
10591	1.99	228.8	94.1	11.7	977	10598	0.00	2.42	0.00	0.000	6	0.000	0.035	2985	1991	1983
10918	2.00	239.2	62.8	9.3	1008	10931	0.00	0.00	10.52	0.564	6	0.000	0.000	2985	1990	1941
11247	2.05	277.3	36.1	7.4	1039	11285	0.00	2.60	32.95	0.568	4	0.000	0.061	2985	594	1785
11348	2.05	277.3	25.7	11.6	1048	11352	0.00	2.42	0.00	0.000	6	0.000	0.030	2985	2014	1783
11554	2.05	277.3	6.9	10.9	1079	11561	0.00	2.47	0.00	0.000	4	0.000	0.054	2985	3392	1782
11599	end climb: SURFACE_DEPTH_REACHED
state	11599	begin surface coast
11605	end surface coast: CONTROL_FINISHED_OK
state	11605	begin surface