Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 35 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 22 ESCAPE_HEADING 180 ROLL_MIN 155 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 35 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3900 ALTIM_PING_DEPTH 90

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2625 ALTIM_FREQUENCY 12

D_TGT 450 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2540 ALTIM_PULSE 2

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 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 770 DEVICE2 -1

T_MISSION 175 CALL_TRIES 5 VBD_MAX 3955 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2936 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 3 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -58205.105 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 150 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 132 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3449 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3100 PRESSURE_YINT -0.46644667 SEABIRD_T_G 0.0043738699

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_H 0.00063649943

MASS 51716 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5189185e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7386873e-06

FERRY_MAX 0 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8703537

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1242318

HD_A 0.003 PITCH_AD_RATE 140 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0015997718

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00020779716

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 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 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 132 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 90 D_TGT 450 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.46644667 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 150

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -58205.105

CAPMAXSIZE 100000 HD_C 9.9999997e-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 116 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 UNCOM_BLEED 150

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3100 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2540 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2625 MASS 51716 R_PORT_OVSHOOT 38 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 21 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 22 SEABIRD_C_G -9.8703537 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1242318 VBD_MAX 3955

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0015997718 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00020779716 VBD_MIN 770

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043738699 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063649943 VBD_PUMP_AD_RATE_SURFACE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5189185e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7386873e-06 XPDR_DEVICE -1

DIVE 35 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 231606,2151.603,-15941.736,42,1.1,47,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.244,-0.214

_XMS_TOUTs 0 KALMAN_X -49286.4,-468.8,-95.1,49935.8,-1696.9

_SM_DEPTHo 0.85 KALMAN_Y 8573.0,234.8,123.1,-17071.5,56.6

_SM_ANGLEo -66.0 MHEAD_RNG_PITCHd_Wd 121.5,2384,-13.1,-10.000

GPS2 232438,2151.663,-15941.920,15,1.3,15,9.8 D_GRID 450

SPEED_LIMITS 0.100,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH -0.1,1.023088 MM_CLLLayer 0.03

SM_CCo 9133,33.70,0.504,0,0,1100,450.13 MM_CfgFile 0.30

SM_GC 0.84,0.00,0.00,33.70,0.000,0.000,0.504,125,2634,1100,-13.68,0.25,450.13 _24V_AH 23.8,14.299

IRIDIUM_FIX 2143.45,-15943.76,251098,202028 _10V_AH 10.0,4.375

TT8_MAMPS 0.062127 DATA_FILE_SIZE 28377,865

HUMID 1837 CAP_FILE_SIZE 311491,0

INTERNAL_PRESSURE 11.3872 CFSIZE 260034560,253296640

TCM_TEMP 23.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 010809,015936,2150.934,-15941.645,35,1.2,39,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 180 143.60 SBE_CT 573 24 327.83

Roll_motor 82 79 154.27 nil 0 0 0.00

VBD_pump_during_apogee 792 772 14565.74 nil 0 0 0.00

VBD_pump_during_surface 33 503 404.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 76.41 nil 0 0 0.00

Iridium_during_connect 28 160 107.72 GUMSTIX 117 1000 2804.66

Iridium_during_xfer 309 223 1640.48

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 62 1000 1495.88

GPS 15 50 7.64

TT8 1636 18 294.56

LPSleep 4798 0 18.71

TT8_Active 820 18 147.76

TT8_Sampling 1526 38 579.91

TT8_CF8 897 44 394.77

TT8_Kalman 33 80 26.69

Analog_circuits 1720 12 206.42

GPS_charging 0 0 0.00

Compass 1476 8 118.09

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.39 -243.3 0.0 0.0 0 101 0.00 0.00 -81.25 0.000 2 0.000 0.000 130 2538 3364

103 -1.39 -243.3 3.7 -8.9 12 132 16.00 0.00 -8.48 0.000 6 0.180 0.000 2791 2538 3931

203 -1.39 -243.3 29.6 -17.6 24 204 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2538 3933

393 -1.39 -243.3 58.8 -13.1 42 394 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2538 3935

712 -1.39 -243.3 101.5 -13.6 72 717 0.00 2.47 0.00 0.000 4 0.000 0.062 2792 3890 3935

741 -1.39 -243.3 105.5 -14.3 74 744 0.00 2.15 0.00 0.000 6 0.000 0.029 2792 2601 3935

1071 -1.39 -243.3 146.2 -12.4 105 1075 0.00 2.38 0.00 0.000 4 0.000 0.064 2792 3890 3934

1099 -1.39 -243.3 149.8 -13.2 107 1103 0.00 2.12 0.00 0.000 6 0.000 0.029 2792 2618 3935

1429 -1.39 -243.3 185.8 -10.5 138 1433 0.00 2.38 0.00 0.000 4 0.000 0.036 2792 1229 3935

1484 -1.39 -243.3 191.6 -10.5 142 1491 0.00 2.42 0.00 0.000 6 0.000 0.036 2792 2627 3935

1809 -1.39 -243.3 226.1 -10.5 173 1810 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2627 3935

2127 -1.39 -243.3 258.1 -9.8 203 2131 0.00 2.35 0.00 0.000 4 0.000 0.072 2792 3893 3935

2223 -1.39 -243.3 268.1 -10.7 211 2227 0.00 2.15 0.00 0.000 6 0.000 0.032 2792 2620 3935

2553 -1.39 -243.3 302.9 -10.4 242 2557 0.00 2.40 0.00 0.000 4 0.000 0.041 2792 1235 3935

2608 -1.39 -243.3 308.6 -10.1 246 2615 0.00 2.45 0.00 0.000 6 0.000 0.042 2792 2627 3935

2933 -1.39 -243.3 338.8 -9.2 277 2937 0.00 2.38 0.00 0.000 4 0.000 0.077 2792 3893 3935

2988 -1.39 -243.3 344.4 -10.1 281 2995 0.00 2.17 0.00 0.000 6 0.000 0.035 2792 2621 3935

3313 -1.39 -243.3 374.6 -9.1 312 3316 0.00 2.40 0.00 0.000 4 0.000 0.077 2792 3893 3931

3374 -1.39 -243.3 380.1 -9.0 317 3381 0.00 2.17 0.00 0.000 6 0.000 0.036 2792 2627 3930

3699 -1.39 -243.3 406.4 -7.8 348 3703 0.00 2.45 0.00 0.000 4 0.000 0.046 2792 1230 3928

3762 -1.39 -243.3 411.5 -8.4 353 3766 0.00 2.47 0.00 0.000 6 0.000 0.045 2792 2626 3928

4087 -1.39 -243.3 439.7 -8.3 383 4088 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2625 3926

4212 end dive: TARGET_DEPTH_EXCEEDED

state 4212 begin apogee

4217 -0.42 0.0 450.1 8.0 395 4536 1.00 0.00 307.38 0.772 6 0.076 0.000 3009 2535 2936

4537 end apogee: CONTROL_FINISHED_OK

state 4538 begin climb

4540 1.39 243.3 463.5 0.0 427 4864 1.77 2.67 311.77 0.743 4 0.051 0.079 3399 3881 1945

4975 1.39 243.3 429.1 12.3 464 4983 0.00 2.38 0.00 0.000 6 0.000 0.039 3400 2538 1940

5300 1.39 243.3 392.4 10.5 495 5305 0.00 2.53 0.00 0.000 4 0.000 0.052 3399 1134 1938

5389 1.39 243.3 382.5 10.7 502 5397 0.00 2.53 0.00 0.000 6 0.000 0.044 3400 2541 1937

5714 1.40 257.2 348.8 9.6 533 5739 0.00 2.58 16.75 0.711 4 0.000 0.076 3399 3887 1887

5788 1.40 257.2 340.7 11.0 539 5796 0.00 2.40 0.00 0.000 6 0.000 0.039 3400 2538 1886

6114 1.40 257.2 307.6 10.3 570 6115 0.00 0.00 0.00 0.000 6 0.000 0.000 3400 2535 1885

6433 1.43 278.9 277.5 9.4 600 6465 0.00 0.00 28.25 0.723 6 0.000 0.000 3400 2535 1799

6783 1.43 278.9 243.1 10.1 633 6787 0.00 2.55 0.00 0.000 4 0.000 0.071 3399 3893 1795

6826 1.43 278.9 237.9 12.1 636 6834 0.00 2.40 0.00 0.000 6 0.000 0.037 3400 2531 1795

7151 1.48 321.9 205.7 8.8 667 7220 0.10 2.65 55.92 0.690 4 0.061 0.067 3433 3897 1623

7243 1.48 321.9 195.7 11.8 675 7247 0.00 2.38 0.00 0.000 6 0.000 0.035 3433 2532 1621

7567 1.48 321.9 158.9 11.3 705 7571 0.00 2.45 0.00 0.000 4 0.000 0.043 3433 1138 1618

7611 1.48 321.9 154.0 10.7 708 7619 0.00 2.50 0.00 0.000 6 0.000 0.038 3433 2555 1618

7937 1.48 321.9 117.7 10.9 739 7942 0.00 2.45 0.00 0.000 4 0.000 0.064 3432 3891 1617

8014 1.48 321.9 108.1 11.7 745 8023 0.00 2.35 0.00 0.000 6 0.000 0.032 3433 2532 1617

8340 1.48 321.9 72.1 11.2 776 8344 0.00 2.40 0.00 0.000 4 0.000 0.039 3433 1146 1617

8383 1.48 321.9 67.1 12.1 779 8391 0.00 2.42 0.00 0.000 6 0.000 0.035 3433 2544 1617

8709 1.56 380.2 36.0 8.4 810 8791 0.00 2.45 72.30 0.555 4 0.000 0.059 3433 3883 1386

8859 1.56 380.2 22.6 10.2 823 8863 0.00 2.30 0.00 0.000 6 0.000 0.030 3433 2526 1384

9063 end climb: SURFACE_DEPTH_REACHED

state 9063 begin surface coast

9110 end surface coast: CONTROL_FINISHED_OK

state 9110 begin surface

ID	116	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	22	ESCAPE_HEADING	180	ROLL_MIN	155	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	35	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3900	ALTIM_PING_DEPTH	90
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2625	ALTIM_FREQUENCY	12
D_TGT	450	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2540	ALTIM_PULSE	2
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	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	770	DEVICE2	-1
T_MISSION	175	CALL_TRIES	5	VBD_MAX	3955	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2936	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	3	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-58205.105	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	150	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	132	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3449	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3100	PRESSURE_YINT	-0.46644667	SEABIRD_T_G	0.0043738699
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_H	0.00063649943
MASS	51716	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5189185e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7386873e-06
FERRY_MAX	0	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8703537
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1242318
HD_A	0.003	PITCH_AD_RATE	140	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0015997718
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00020779716
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	231606,2151.603,-15941.736,42,1.1,47,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.244,-0.214
_XMS_TOUTs	0	KALMAN_X	-49286.4,-468.8,-95.1,49935.8,-1696.9
_SM_DEPTHo	0.85	KALMAN_Y	8573.0,234.8,123.1,-17071.5,56.6
_SM_ANGLEo	-66.0	MHEAD_RNG_PITCHd_Wd	121.5,2384,-13.1,-10.000
GPS2	232438,2151.663,-15941.920,15,1.3,15,9.8	D_GRID	450
SPEED_LIMITS	0.100,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	-0.1,1.023088	MM_CLLLayer	0.03
SM_CCo	9133,33.70,0.504,0,0,1100,450.13	MM_CfgFile	0.30
SM_GC	0.84,0.00,0.00,33.70,0.000,0.000,0.504,125,2634,1100,-13.68,0.25,450.13	_24V_AH	23.8,14.299
IRIDIUM_FIX	2143.45,-15943.76,251098,202028	_10V_AH	10.0,4.375
TT8_MAMPS	0.062127	DATA_FILE_SIZE	28377,865
HUMID	1837	CAP_FILE_SIZE	311491,0
INTERNAL_PRESSURE	11.3872	CFSIZE	260034560,253296640
TCM_TEMP	23.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	010809,015936,2150.934,-15941.645,35,1.2,39,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	180	143.60	SBE_CT	573	24	327.83
Roll_motor	82	79	154.27	nil	0	0	0.00
VBD_pump_during_apogee	792	772	14565.74	nil	0	0	0.00
VBD_pump_during_surface	33	503	404.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	76.41	nil	0	0	0.00
Iridium_during_connect	28	160	107.72	GUMSTIX	117	1000	2804.66
Iridium_during_xfer	309	223	1640.48
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	62	1000	1495.88
GPS	15	50	7.64
TT8	1636	18	294.56
LPSleep	4798	0	18.71
TT8_Active	820	18	147.76
TT8_Sampling	1526	38	579.91
TT8_CF8	897	44	394.77
TT8_Kalman	33	80	26.69
Analog_circuits	1720	12	206.42
GPS_charging	0	0	0.00
Compass	1476	8	118.09
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.39	-243.3	0.0	0.0	0	101	0.00	0.00	-81.25	0.000	2	0.000	0.000	130	2538	3364
103	-1.39	-243.3	3.7	-8.9	12	132	16.00	0.00	-8.48	0.000	6	0.180	0.000	2791	2538	3931
203	-1.39	-243.3	29.6	-17.6	24	204	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2538	3933
393	-1.39	-243.3	58.8	-13.1	42	394	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2538	3935
712	-1.39	-243.3	101.5	-13.6	72	717	0.00	2.47	0.00	0.000	4	0.000	0.062	2792	3890	3935
741	-1.39	-243.3	105.5	-14.3	74	744	0.00	2.15	0.00	0.000	6	0.000	0.029	2792	2601	3935
1071	-1.39	-243.3	146.2	-12.4	105	1075	0.00	2.38	0.00	0.000	4	0.000	0.064	2792	3890	3934
1099	-1.39	-243.3	149.8	-13.2	107	1103	0.00	2.12	0.00	0.000	6	0.000	0.029	2792	2618	3935
1429	-1.39	-243.3	185.8	-10.5	138	1433	0.00	2.38	0.00	0.000	4	0.000	0.036	2792	1229	3935
1484	-1.39	-243.3	191.6	-10.5	142	1491	0.00	2.42	0.00	0.000	6	0.000	0.036	2792	2627	3935
1809	-1.39	-243.3	226.1	-10.5	173	1810	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2627	3935
2127	-1.39	-243.3	258.1	-9.8	203	2131	0.00	2.35	0.00	0.000	4	0.000	0.072	2792	3893	3935
2223	-1.39	-243.3	268.1	-10.7	211	2227	0.00	2.15	0.00	0.000	6	0.000	0.032	2792	2620	3935
2553	-1.39	-243.3	302.9	-10.4	242	2557	0.00	2.40	0.00	0.000	4	0.000	0.041	2792	1235	3935
2608	-1.39	-243.3	308.6	-10.1	246	2615	0.00	2.45	0.00	0.000	6	0.000	0.042	2792	2627	3935
2933	-1.39	-243.3	338.8	-9.2	277	2937	0.00	2.38	0.00	0.000	4	0.000	0.077	2792	3893	3935
2988	-1.39	-243.3	344.4	-10.1	281	2995	0.00	2.17	0.00	0.000	6	0.000	0.035	2792	2621	3935
3313	-1.39	-243.3	374.6	-9.1	312	3316	0.00	2.40	0.00	0.000	4	0.000	0.077	2792	3893	3931
3374	-1.39	-243.3	380.1	-9.0	317	3381	0.00	2.17	0.00	0.000	6	0.000	0.036	2792	2627	3930
3699	-1.39	-243.3	406.4	-7.8	348	3703	0.00	2.45	0.00	0.000	4	0.000	0.046	2792	1230	3928
3762	-1.39	-243.3	411.5	-8.4	353	3766	0.00	2.47	0.00	0.000	6	0.000	0.045	2792	2626	3928
4087	-1.39	-243.3	439.7	-8.3	383	4088	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2625	3926
4212	end dive: TARGET_DEPTH_EXCEEDED
state	4212	begin apogee
4217	-0.42	0.0	450.1	8.0	395	4536	1.00	0.00	307.38	0.772	6	0.076	0.000	3009	2535	2936
4537	end apogee: CONTROL_FINISHED_OK
state	4538	begin climb
4540	1.39	243.3	463.5	0.0	427	4864	1.77	2.67	311.77	0.743	4	0.051	0.079	3399	3881	1945
4975	1.39	243.3	429.1	12.3	464	4983	0.00	2.38	0.00	0.000	6	0.000	0.039	3400	2538	1940
5300	1.39	243.3	392.4	10.5	495	5305	0.00	2.53	0.00	0.000	4	0.000	0.052	3399	1134	1938
5389	1.39	243.3	382.5	10.7	502	5397	0.00	2.53	0.00	0.000	6	0.000	0.044	3400	2541	1937
5714	1.40	257.2	348.8	9.6	533	5739	0.00	2.58	16.75	0.711	4	0.000	0.076	3399	3887	1887
5788	1.40	257.2	340.7	11.0	539	5796	0.00	2.40	0.00	0.000	6	0.000	0.039	3400	2538	1886
6114	1.40	257.2	307.6	10.3	570	6115	0.00	0.00	0.00	0.000	6	0.000	0.000	3400	2535	1885
6433	1.43	278.9	277.5	9.4	600	6465	0.00	0.00	28.25	0.723	6	0.000	0.000	3400	2535	1799
6783	1.43	278.9	243.1	10.1	633	6787	0.00	2.55	0.00	0.000	4	0.000	0.071	3399	3893	1795
6826	1.43	278.9	237.9	12.1	636	6834	0.00	2.40	0.00	0.000	6	0.000	0.037	3400	2531	1795
7151	1.48	321.9	205.7	8.8	667	7220	0.10	2.65	55.92	0.690	4	0.061	0.067	3433	3897	1623
7243	1.48	321.9	195.7	11.8	675	7247	0.00	2.38	0.00	0.000	6	0.000	0.035	3433	2532	1621
7567	1.48	321.9	158.9	11.3	705	7571	0.00	2.45	0.00	0.000	4	0.000	0.043	3433	1138	1618
7611	1.48	321.9	154.0	10.7	708	7619	0.00	2.50	0.00	0.000	6	0.000	0.038	3433	2555	1618
7937	1.48	321.9	117.7	10.9	739	7942	0.00	2.45	0.00	0.000	4	0.000	0.064	3432	3891	1617
8014	1.48	321.9	108.1	11.7	745	8023	0.00	2.35	0.00	0.000	6	0.000	0.032	3433	2532	1617
8340	1.48	321.9	72.1	11.2	776	8344	0.00	2.40	0.00	0.000	4	0.000	0.039	3433	1146	1617
8383	1.48	321.9	67.1	12.1	779	8391	0.00	2.42	0.00	0.000	6	0.000	0.035	3433	2544	1617
8709	1.56	380.2	36.0	8.4	810	8791	0.00	2.45	72.30	0.555	4	0.000	0.059	3433	3883	1386
8859	1.56	380.2	22.6	10.2	823	8863	0.00	2.30	0.00	0.000	6	0.000	0.030	3433	2526	1384
9063	end climb: SURFACE_DEPTH_REACHED
state	9063	begin surface coast
9110	end surface coast: CONTROL_FINISHED_OK
state	9110	begin surface