Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 35 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 21 ESCAPE_HEADING 180 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 35 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2700 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 450 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 17 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 47 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 INT_PRESSURE_YINT 1.4

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 582 DEVICE2 -1

T_MISSION 175 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 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 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -86515.625 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 428 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2950 PRESSURE_YINT -8.3219604 SEABIRD_T_G 0.0043077655

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063814409

MASS 51726 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4031482e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4698193e-06

FERRY_MAX 45 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826059

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1260695

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0021108589

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021799213

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3730 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 428 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 450 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.3219604 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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -86515.625

CAPMAXSIZE 100000 HD_C 9.8541004e-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 118 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2950 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2700 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2500 MASS 51726 R_PORT_OVSHOOT 47 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 36 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 21 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4698193e-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 193106,2153.329,-15942.114,14,1.2,30,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 6 KALMAN_CONTROL 0.311,-0.097

_XMS_TOUTs 0 KALMAN_X -52011.5,42.0,-222.0,51566.3,-2024.9

_SM_DEPTHo 0.38 KALMAN_Y 23250.5,-91.0,120.7,-28306.4,837.9

_SM_ANGLEo -58.1 MHEAD_RNG_PITCHd_Wd 97.4,3470,-13.9,-10.000

GPS2 194508,2153.376,-15942.317,10,1.7,10,9.8 D_GRID 450

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH -0.1,0.999304 MM_CLLLayer 0.03

SM_CCo 8166,38.25,0.439,0,0,1102,450.13 MM_CfgFile 0.30

SM_GC 0.71,0.00,0.00,38.25,0.000,0.000,0.439,418,2466,1102,-11.64,-0.96,450.13 _24V_AH 23.9,21.595

IRIDIUM_FIX 2143.45,-15941.58,251098,171735 _10V_AH 10.1,25.313

TT8_MAMPS 0.081302 DATA_FILE_SIZE 25233,761

HUMID 1791 CAP_FILE_SIZE 271685,0

INTERNAL_PRESSURE 9.99408 CFSIZE -70647808,-88276992

TCM_TEMP 23.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 310709,220407,2153.415,-15941.652,34,1.6,34,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 128 83.57 SBE_CT 520 24 298.79

Roll_motor 47 57 65.89 nil 0 0 0.00

VBD_pump_during_apogee 480 778 8941.24 nil 0 0 0.00

VBD_pump_during_surface 38 439 401.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 71.08 nil 0 0 0.00

Iridium_during_connect 35 160 134.08 GUMSTIX 110 1000 2638.94

Iridium_during_xfer 470 223 2506.98

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 77 1000 1855.21

GPS 10 50 5.46

TT8 1441 18 262.05

LPSleep 4029 0 15.87

TT8_Active 574 18 104.51

TT8_Sampling 1308 38 502.19

TT8_CF8 1683 44 748.11

TT8_Kalman 33 80 26.94

Analog_circuits 1328 12 161.05

GPS_charging 0 0 0.00

Compass 1263 8 102.08

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

20 -1.69 -243.3 0.0 0.0 0 106 0.00 0.00 -83.15 0.000 2 0.000 0.000 420 2492 3517

112 -1.69 -243.3 4.7 -12.1 12 135 11.25 2.55 -5.53 0.000 4 0.128 0.053 2576 3902 3932

195 -1.69 -243.3 33.4 -19.4 20 202 0.00 2.40 0.00 0.000 6 0.000 0.022 2576 2503 3933

396 -1.69 -243.3 66.4 -15.2 39 402 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2503 3933

730 -1.69 -243.3 119.4 -15.5 70 737 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2503 3933

1059 -1.69 -243.3 170.3 -14.7 101 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2503 3934

1387 -1.69 -243.3 212.7 -12.9 132 1391 0.00 2.55 0.00 0.000 4 0.000 0.047 2576 3902 3934

1469 -1.69 -243.3 222.8 -11.7 138 1476 0.00 2.42 0.00 0.000 6 0.000 0.025 2576 2490 3934

1797 -1.69 -243.3 258.4 -10.9 169 1804 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2491 3934

2126 -1.69 -243.3 297.3 -12.3 200 2130 0.00 2.40 0.00 0.000 4 0.000 0.050 2576 1106 3932

2168 -1.69 -243.3 302.8 -13.0 203 2173 0.00 2.33 0.00 0.000 6 0.000 0.027 2575 2500 3932

2497 -1.69 -243.3 346.0 -14.0 233 2501 0.00 2.55 0.00 0.000 4 0.000 0.055 2576 3895 3930

2601 -1.69 -243.3 360.0 -12.4 241 2608 0.00 2.42 0.00 0.000 6 0.000 0.028 2576 2508 3929

2929 -1.69 -243.3 400.6 -12.2 272 2935 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2509 3926

3257 -1.69 -243.3 436.8 -11.1 303 3264 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2509 3924

3368 end dive: TARGET_DEPTH_EXCEEDED

state 3368 begin apogee

3380 -0.50 0.0 450.1 11.6 314 3573 1.20 0.00 186.40 0.779 6 0.062 0.000 2838 2712 2937

3579 end apogee: CONTROL_FINISHED_OK

state 3579 begin climb

3585 1.69 243.3 462.2 0.0 333 3783 2.10 2.40 188.77 0.768 4 0.041 0.058 3325 3931 1945

3969 1.69 243.3 437.2 11.5 364 3976 0.00 2.22 0.00 0.000 6 0.000 0.031 3325 2688 1940

4297 1.69 243.3 401.9 11.1 395 4303 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2689 1937

4625 1.69 243.3 365.3 11.1 426 4632 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2689 1935

4954 1.74 283.0 333.2 8.9 457 4991 0.00 2.45 31.60 0.707 4 0.000 0.057 3325 3925 1782

5093 1.74 283.0 318.4 11.3 468 5101 0.00 2.20 0.00 0.000 6 0.000 0.030 3325 2691 1779

5422 1.74 283.0 285.1 10.0 499 5428 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2692 1777

5750 1.77 306.1 254.7 9.4 530 5776 0.00 2.47 19.05 0.648 4 0.000 0.049 3325 1301 1688

5841 1.77 306.1 245.7 10.3 537 5848 0.00 2.38 0.00 0.000 6 0.000 0.031 3325 2694 1686

6169 1.77 306.1 213.4 11.1 568 6173 0.00 2.33 0.00 0.000 4 0.000 0.058 3325 3938 1685

6234 1.77 306.1 206.6 11.7 572 6241 0.00 2.20 0.00 0.000 6 0.000 0.028 3325 2683 1685

6562 1.79 325.9 169.8 9.5 603 6587 0.00 2.38 17.42 0.586 4 0.000 0.052 3324 3933 1606

6675 1.79 325.9 157.5 10.1 612 6682 0.00 2.17 0.00 0.000 6 0.000 0.026 3325 2695 1605

7004 1.84 369.4 130.2 8.8 643 7044 0.12 0.00 37.30 0.566 6 0.045 0.000 3368 2694 1430

7366 1.84 369.4 86.6 13.0 677 7370 0.00 2.30 0.00 0.000 4 0.000 0.048 3368 3938 1424

7454 1.84 369.4 74.1 13.3 684 7461 0.00 2.17 0.00 0.000 6 0.000 0.024 3368 2685 1424

7782 1.84 369.4 35.0 10.4 715 7789 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 2686 1424

7992 1.84 369.4 13.6 10.0 739 7998 0.00 0.00 0.00 0.000 6 0.000 0.000 3367 2686 1424

8078 1.85 370.6 5.5 10.0 752 8084 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 2686 1424

8089 end climb: SURFACE_DEPTH_REACHED

state 8089 begin surface coast

8132 end surface coast: CONTROL_FINISHED_OK

state 8132 begin surface

ID	118	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	21	ESCAPE_HEADING	180	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	35	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2700	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	450	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	17	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	47	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	INT_PRESSURE_YINT	1.4
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	582	DEVICE2	-1
T_MISSION	175	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	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	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-86515.625	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	428	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2950	PRESSURE_YINT	-8.3219604	SEABIRD_T_G	0.0043077655
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063814409
MASS	51726	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4031482e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4698193e-06
FERRY_MAX	45	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826059
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1260695
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0021108589
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021799213
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	193106,2153.329,-15942.114,14,1.2,30,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	6	KALMAN_CONTROL	0.311,-0.097
_XMS_TOUTs	0	KALMAN_X	-52011.5,42.0,-222.0,51566.3,-2024.9
_SM_DEPTHo	0.38	KALMAN_Y	23250.5,-91.0,120.7,-28306.4,837.9
_SM_ANGLEo	-58.1	MHEAD_RNG_PITCHd_Wd	97.4,3470,-13.9,-10.000
GPS2	194508,2153.376,-15942.317,10,1.7,10,9.8	D_GRID	450
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	-0.1,0.999304	MM_CLLLayer	0.03
SM_CCo	8166,38.25,0.439,0,0,1102,450.13	MM_CfgFile	0.30
SM_GC	0.71,0.00,0.00,38.25,0.000,0.000,0.439,418,2466,1102,-11.64,-0.96,450.13	_24V_AH	23.9,21.595
IRIDIUM_FIX	2143.45,-15941.58,251098,171735	_10V_AH	10.1,25.313
TT8_MAMPS	0.081302	DATA_FILE_SIZE	25233,761
HUMID	1791	CAP_FILE_SIZE	271685,0
INTERNAL_PRESSURE	9.99408	CFSIZE	-70647808,-88276992
TCM_TEMP	23.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	310709,220407,2153.415,-15941.652,34,1.6,34,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	128	83.57	SBE_CT	520	24	298.79
Roll_motor	47	57	65.89	nil	0	0	0.00
VBD_pump_during_apogee	480	778	8941.24	nil	0	0	0.00
VBD_pump_during_surface	38	439	401.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	71.08	nil	0	0	0.00
Iridium_during_connect	35	160	134.08	GUMSTIX	110	1000	2638.94
Iridium_during_xfer	470	223	2506.98
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	77	1000	1855.21
GPS	10	50	5.46
TT8	1441	18	262.05
LPSleep	4029	0	15.87
TT8_Active	574	18	104.51
TT8_Sampling	1308	38	502.19
TT8_CF8	1683	44	748.11
TT8_Kalman	33	80	26.94
Analog_circuits	1328	12	161.05
GPS_charging	0	0	0.00
Compass	1263	8	102.08
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
20	-1.69	-243.3	0.0	0.0	0	106	0.00	0.00	-83.15	0.000	2	0.000	0.000	420	2492	3517
112	-1.69	-243.3	4.7	-12.1	12	135	11.25	2.55	-5.53	0.000	4	0.128	0.053	2576	3902	3932
195	-1.69	-243.3	33.4	-19.4	20	202	0.00	2.40	0.00	0.000	6	0.000	0.022	2576	2503	3933
396	-1.69	-243.3	66.4	-15.2	39	402	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2503	3933
730	-1.69	-243.3	119.4	-15.5	70	737	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2503	3933
1059	-1.69	-243.3	170.3	-14.7	101	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2503	3934
1387	-1.69	-243.3	212.7	-12.9	132	1391	0.00	2.55	0.00	0.000	4	0.000	0.047	2576	3902	3934
1469	-1.69	-243.3	222.8	-11.7	138	1476	0.00	2.42	0.00	0.000	6	0.000	0.025	2576	2490	3934
1797	-1.69	-243.3	258.4	-10.9	169	1804	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2491	3934
2126	-1.69	-243.3	297.3	-12.3	200	2130	0.00	2.40	0.00	0.000	4	0.000	0.050	2576	1106	3932
2168	-1.69	-243.3	302.8	-13.0	203	2173	0.00	2.33	0.00	0.000	6	0.000	0.027	2575	2500	3932
2497	-1.69	-243.3	346.0	-14.0	233	2501	0.00	2.55	0.00	0.000	4	0.000	0.055	2576	3895	3930
2601	-1.69	-243.3	360.0	-12.4	241	2608	0.00	2.42	0.00	0.000	6	0.000	0.028	2576	2508	3929
2929	-1.69	-243.3	400.6	-12.2	272	2935	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2509	3926
3257	-1.69	-243.3	436.8	-11.1	303	3264	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2509	3924
3368	end dive: TARGET_DEPTH_EXCEEDED
state	3368	begin apogee
3380	-0.50	0.0	450.1	11.6	314	3573	1.20	0.00	186.40	0.779	6	0.062	0.000	2838	2712	2937
3579	end apogee: CONTROL_FINISHED_OK
state	3579	begin climb
3585	1.69	243.3	462.2	0.0	333	3783	2.10	2.40	188.77	0.768	4	0.041	0.058	3325	3931	1945
3969	1.69	243.3	437.2	11.5	364	3976	0.00	2.22	0.00	0.000	6	0.000	0.031	3325	2688	1940
4297	1.69	243.3	401.9	11.1	395	4303	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2689	1937
4625	1.69	243.3	365.3	11.1	426	4632	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2689	1935
4954	1.74	283.0	333.2	8.9	457	4991	0.00	2.45	31.60	0.707	4	0.000	0.057	3325	3925	1782
5093	1.74	283.0	318.4	11.3	468	5101	0.00	2.20	0.00	0.000	6	0.000	0.030	3325	2691	1779
5422	1.74	283.0	285.1	10.0	499	5428	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2692	1777
5750	1.77	306.1	254.7	9.4	530	5776	0.00	2.47	19.05	0.648	4	0.000	0.049	3325	1301	1688
5841	1.77	306.1	245.7	10.3	537	5848	0.00	2.38	0.00	0.000	6	0.000	0.031	3325	2694	1686
6169	1.77	306.1	213.4	11.1	568	6173	0.00	2.33	0.00	0.000	4	0.000	0.058	3325	3938	1685
6234	1.77	306.1	206.6	11.7	572	6241	0.00	2.20	0.00	0.000	6	0.000	0.028	3325	2683	1685
6562	1.79	325.9	169.8	9.5	603	6587	0.00	2.38	17.42	0.586	4	0.000	0.052	3324	3933	1606
6675	1.79	325.9	157.5	10.1	612	6682	0.00	2.17	0.00	0.000	6	0.000	0.026	3325	2695	1605
7004	1.84	369.4	130.2	8.8	643	7044	0.12	0.00	37.30	0.566	6	0.045	0.000	3368	2694	1430
7366	1.84	369.4	86.6	13.0	677	7370	0.00	2.30	0.00	0.000	4	0.000	0.048	3368	3938	1424
7454	1.84	369.4	74.1	13.3	684	7461	0.00	2.17	0.00	0.000	6	0.000	0.024	3368	2685	1424
7782	1.84	369.4	35.0	10.4	715	7789	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	2686	1424
7992	1.84	369.4	13.6	10.0	739	7998	0.00	0.00	0.00	0.000	6	0.000	0.000	3367	2686	1424
8078	1.85	370.6	5.5	10.0	752	8084	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	2686	1424
8089	end climb: SURFACE_DEPTH_REACHED
state	8089	begin surface coast
8132	end surface coast: CONTROL_FINISHED_OK
state	8132	begin surface