Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 36 * 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 36 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 46 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -58217.688 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 -58217.688

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 46 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 26 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 36 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 015936,2150.934,-15941.645,35,1.2,39,9.8 TGT_LATLONG 2154.000,-15942.000

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 10 KALMAN_CONTROL 0.113,0.304

_XMS_TOUTs 0 KALMAN_X -50695.7,-1060.3,-45.1,52121.5,-1220.8

_SM_DEPTHo 0.81 KALMAN_Y 9298.5,310.2,25.2,-18974.4,302.0

_SM_ANGLEo -68.1 MHEAD_RNG_PITCHd_Wd 10.5,5535,-13.1,-10.000

GPS2 020831,2151.018,-15941.781,11,1.2,11,9.8 D_GRID 450

SPEED_LIMITS 0.100,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T0

Post-dive calculations and measurements:

FINISH -0.1,1.022931 MM_CLLLayer 0.03

SM_CCo 8940,28.12,0.500,0,0,1101,450.13 MM_CfgFile 0.30

SM_GC 1.00,0.00,0.00,28.12,0.000,0.000,0.500,126,2630,1101,-13.68,0.17,450.13 _24V_AH 23.8,14.509

IRIDIUM_FIX 2141.13,-15941.58,251098,232309 _10V_AH 10.0,4.461

TT8_MAMPS 0.059826 DATA_FILE_SIZE 25301,843

HUMID 1833 CAP_FILE_SIZE 301065,0

INTERNAL_PRESSURE 11.3969 CFSIZE 260034560,253194240

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 010809,044007,2152.625,-15942.081,36,0.9,36,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 181 145.40 SBE_CT 559 24 319.32

Roll_motor 67 78 125.82 nil 0 0 0.00

VBD_pump_during_apogee 806 767 14726.90 nil 0 0 0.00

VBD_pump_during_surface 28 500 334.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.97 nil 0 0 0.00

Iridium_during_connect 27 160 103.58 GUMSTIX 115 1000 2752.49

Iridium_during_xfer 340 223 1805.29

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 61 1000 1468.06

GPS 11 50 5.98

TT8 1581 18 284.64

LPSleep 4724 0 18.42

TT8_Active 794 18 143.09

TT8_Sampling 1489 38 566.01

TT8_CF8 911 44 401.16

TT8_Kalman 33 80 26.67

Analog_circuits 1674 12 200.98

GPS_charging 0 0 0.00

Compass 1443 8 115.45

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

17 -1.39 -243.3 0.0 0.0 0 99 0.00 0.00 -79.30 0.000 2 0.000 0.000 125 2636 3302

102 -1.39 -243.3 3.3 -7.4 12 138 16.05 2.33 -9.88 0.000 4 0.181 0.072 2792 3886 3932

261 -1.39 -243.3 39.8 -18.0 29 269 0.00 2.12 0.00 0.000 6 0.000 0.029 2793 2615 3935

459 -1.39 -243.3 69.9 -15.6 48 460 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2615 3934

778 -1.39 -243.3 113.0 -13.0 78 779 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2615 3935

1096 -1.39 -243.3 151.5 -12.4 108 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2615 3935

1414 -1.39 -243.3 188.2 -10.5 138 1418 0.00 2.35 0.00 0.000 4 0.000 0.070 2792 3881 3935

1509 -1.39 -243.3 198.7 -11.1 146 1513 0.00 2.10 0.00 0.000 6 0.000 0.029 2792 2625 3935

1839 -1.39 -243.3 235.3 -10.9 177 1840 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2624 3935

2158 -1.39 -243.3 268.8 -9.5 207 2162 0.00 2.40 0.00 0.000 4 0.000 0.039 2793 1231 3935

2198 -1.39 -243.3 272.6 -10.0 210 2202 0.00 2.42 0.00 0.000 6 0.000 0.039 2793 2620 3935

2522 -1.39 -243.3 306.0 -10.1 240 2526 0.00 2.38 0.00 0.000 4 0.000 0.074 2792 3895 3935

2621 -1.39 -243.3 316.3 -10.2 248 2629 0.00 2.17 0.00 0.000 6 0.000 0.034 2792 2630 3935

2948 -1.39 -243.3 346.8 -9.6 279 2949 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2629 3935

3265 -1.39 -243.3 375.9 -9.7 309 3270 0.00 2.45 0.00 0.000 4 0.000 0.044 2793 1231 3933

3309 -1.39 -243.3 380.2 -9.1 312 3317 0.00 2.47 0.00 0.000 6 0.000 0.043 2792 2633 3932

3635 -1.39 -243.3 410.2 -8.8 343 3639 0.00 2.35 0.00 0.000 4 0.000 0.078 2792 3886 3929

3730 -1.39 -243.3 419.0 -9.2 351 3734 0.00 2.17 0.00 0.000 6 0.000 0.037 2793 2623 3928

4053 end dive: TARGET_DEPTH_EXCEEDED

state 4053 begin apogee

4058 -0.42 0.0 450.1 9.3 381 4377 0.98 0.00 307.70 0.767 6 0.075 0.000 3005 2535 2936

4378 end apogee: CONTROL_FINISHED_OK

state 4379 begin climb

4381 1.39 243.3 463.4 0.0 413 4705 1.80 2.60 311.30 0.742 4 0.051 0.052 3402 1144 1944

4802 1.40 251.6 434.4 9.8 449 4819 0.00 2.53 11.43 0.652 6 0.000 0.045 3402 2545 1910

5139 1.40 251.6 400.9 10.2 480 5143 0.00 2.55 0.00 0.000 4 0.000 0.077 3402 3887 1906

5245 1.40 251.6 389.2 10.4 489 5249 0.00 2.35 0.00 0.000 6 0.000 0.039 3402 2541 1905

5569 1.40 251.6 355.9 10.5 519 5571 0.00 0.00 0.00 0.000 6 0.000 0.000 3402 2539 1904

5888 1.40 251.6 325.0 10.4 549 5892 0.00 2.50 0.00 0.000 4 0.000 0.051 3402 1136 1903

5933 1.40 251.6 320.2 10.8 553 5937 0.00 2.50 0.00 0.000 6 0.000 0.044 3402 2546 1903

6258 1.44 289.9 289.7 8.9 583 6317 0.00 2.62 47.90 0.729 4 0.000 0.073 3402 3888 1753

6377 1.44 289.9 277.4 11.7 593 6381 0.00 2.35 0.00 0.000 6 0.000 0.038 3402 2539 1751

6701 1.44 289.9 241.1 11.6 623 6705 0.00 2.50 0.00 0.000 4 0.000 0.048 3402 1133 1749

6762 1.44 289.9 233.7 12.1 628 6767 0.00 2.50 0.00 0.000 6 0.000 0.041 3402 2543 1749

7088 1.44 289.9 198.0 11.7 658 7092 0.00 2.50 0.00 0.000 4 0.000 0.069 3402 3887 1748

7131 1.44 289.9 192.4 12.9 661 7139 0.00 2.33 0.00 0.000 6 0.000 0.035 3402 2535 1748

7456 1.53 357.7 160.6 8.1 692 7552 0.15 2.55 86.12 0.654 4 0.047 0.063 3448 3887 1477

7576 1.53 357.7 147.7 12.8 702 7580 0.00 2.33 0.00 0.000 6 0.000 0.033 3449 2538 1475

7900 1.53 357.7 104.7 13.2 732 7901 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2536 1472

8220 1.53 357.7 68.7 11.8 762 8221 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2536 1472

8539 1.57 391.7 39.4 9.1 792 8588 0.00 2.53 42.30 0.552 4 0.000 0.059 3448 3891 1339

8627 1.57 391.7 30.6 10.4 799 8635 0.00 2.33 0.00 0.000 6 0.000 0.029 3448 2538 1338

8831 1.57 391.7 8.3 11.1 828 8838 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2535 1337

8875 end climb: SURFACE_DEPTH_REACHED

state 8875 begin surface coast

8915 end surface coast: CONTROL_FINISHED_OK

state 8915 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	36	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	46	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-58217.688	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	015936,2150.934,-15941.645,35,1.2,39,9.8	TGT_LATLONG	2154.000,-15942.000
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	10	KALMAN_CONTROL	0.113,0.304
_XMS_TOUTs	0	KALMAN_X	-50695.7,-1060.3,-45.1,52121.5,-1220.8
_SM_DEPTHo	0.81	KALMAN_Y	9298.5,310.2,25.2,-18974.4,302.0
_SM_ANGLEo	-68.1	MHEAD_RNG_PITCHd_Wd	10.5,5535,-13.1,-10.000
GPS2	020831,2151.018,-15941.781,11,1.2,11,9.8	D_GRID	450
SPEED_LIMITS	0.100,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T0

FINISH	-0.1,1.022931	MM_CLLLayer	0.03
SM_CCo	8940,28.12,0.500,0,0,1101,450.13	MM_CfgFile	0.30
SM_GC	1.00,0.00,0.00,28.12,0.000,0.000,0.500,126,2630,1101,-13.68,0.17,450.13	_24V_AH	23.8,14.509
IRIDIUM_FIX	2141.13,-15941.58,251098,232309	_10V_AH	10.0,4.461
TT8_MAMPS	0.059826	DATA_FILE_SIZE	25301,843
HUMID	1833	CAP_FILE_SIZE	301065,0
INTERNAL_PRESSURE	11.3969	CFSIZE	260034560,253194240
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	010809,044007,2152.625,-15942.081,36,0.9,36,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	181	145.40	SBE_CT	559	24	319.32
Roll_motor	67	78	125.82	nil	0	0	0.00
VBD_pump_during_apogee	806	767	14726.90	nil	0	0	0.00
VBD_pump_during_surface	28	500	334.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.97	nil	0	0	0.00
Iridium_during_connect	27	160	103.58	GUMSTIX	115	1000	2752.49
Iridium_during_xfer	340	223	1805.29
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	61	1000	1468.06
GPS	11	50	5.98
TT8	1581	18	284.64
LPSleep	4724	0	18.42
TT8_Active	794	18	143.09
TT8_Sampling	1489	38	566.01
TT8_CF8	911	44	401.16
TT8_Kalman	33	80	26.67
Analog_circuits	1674	12	200.98
GPS_charging	0	0	0.00
Compass	1443	8	115.45
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
17	-1.39	-243.3	0.0	0.0	0	99	0.00	0.00	-79.30	0.000	2	0.000	0.000	125	2636	3302
102	-1.39	-243.3	3.3	-7.4	12	138	16.05	2.33	-9.88	0.000	4	0.181	0.072	2792	3886	3932
261	-1.39	-243.3	39.8	-18.0	29	269	0.00	2.12	0.00	0.000	6	0.000	0.029	2793	2615	3935
459	-1.39	-243.3	69.9	-15.6	48	460	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2615	3934
778	-1.39	-243.3	113.0	-13.0	78	779	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2615	3935
1096	-1.39	-243.3	151.5	-12.4	108	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2615	3935
1414	-1.39	-243.3	188.2	-10.5	138	1418	0.00	2.35	0.00	0.000	4	0.000	0.070	2792	3881	3935
1509	-1.39	-243.3	198.7	-11.1	146	1513	0.00	2.10	0.00	0.000	6	0.000	0.029	2792	2625	3935
1839	-1.39	-243.3	235.3	-10.9	177	1840	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2624	3935
2158	-1.39	-243.3	268.8	-9.5	207	2162	0.00	2.40	0.00	0.000	4	0.000	0.039	2793	1231	3935
2198	-1.39	-243.3	272.6	-10.0	210	2202	0.00	2.42	0.00	0.000	6	0.000	0.039	2793	2620	3935
2522	-1.39	-243.3	306.0	-10.1	240	2526	0.00	2.38	0.00	0.000	4	0.000	0.074	2792	3895	3935
2621	-1.39	-243.3	316.3	-10.2	248	2629	0.00	2.17	0.00	0.000	6	0.000	0.034	2792	2630	3935
2948	-1.39	-243.3	346.8	-9.6	279	2949	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2629	3935
3265	-1.39	-243.3	375.9	-9.7	309	3270	0.00	2.45	0.00	0.000	4	0.000	0.044	2793	1231	3933
3309	-1.39	-243.3	380.2	-9.1	312	3317	0.00	2.47	0.00	0.000	6	0.000	0.043	2792	2633	3932
3635	-1.39	-243.3	410.2	-8.8	343	3639	0.00	2.35	0.00	0.000	4	0.000	0.078	2792	3886	3929
3730	-1.39	-243.3	419.0	-9.2	351	3734	0.00	2.17	0.00	0.000	6	0.000	0.037	2793	2623	3928
4053	end dive: TARGET_DEPTH_EXCEEDED
state	4053	begin apogee
4058	-0.42	0.0	450.1	9.3	381	4377	0.98	0.00	307.70	0.767	6	0.075	0.000	3005	2535	2936
4378	end apogee: CONTROL_FINISHED_OK
state	4379	begin climb
4381	1.39	243.3	463.4	0.0	413	4705	1.80	2.60	311.30	0.742	4	0.051	0.052	3402	1144	1944
4802	1.40	251.6	434.4	9.8	449	4819	0.00	2.53	11.43	0.652	6	0.000	0.045	3402	2545	1910
5139	1.40	251.6	400.9	10.2	480	5143	0.00	2.55	0.00	0.000	4	0.000	0.077	3402	3887	1906
5245	1.40	251.6	389.2	10.4	489	5249	0.00	2.35	0.00	0.000	6	0.000	0.039	3402	2541	1905
5569	1.40	251.6	355.9	10.5	519	5571	0.00	0.00	0.00	0.000	6	0.000	0.000	3402	2539	1904
5888	1.40	251.6	325.0	10.4	549	5892	0.00	2.50	0.00	0.000	4	0.000	0.051	3402	1136	1903
5933	1.40	251.6	320.2	10.8	553	5937	0.00	2.50	0.00	0.000	6	0.000	0.044	3402	2546	1903
6258	1.44	289.9	289.7	8.9	583	6317	0.00	2.62	47.90	0.729	4	0.000	0.073	3402	3888	1753
6377	1.44	289.9	277.4	11.7	593	6381	0.00	2.35	0.00	0.000	6	0.000	0.038	3402	2539	1751
6701	1.44	289.9	241.1	11.6	623	6705	0.00	2.50	0.00	0.000	4	0.000	0.048	3402	1133	1749
6762	1.44	289.9	233.7	12.1	628	6767	0.00	2.50	0.00	0.000	6	0.000	0.041	3402	2543	1749
7088	1.44	289.9	198.0	11.7	658	7092	0.00	2.50	0.00	0.000	4	0.000	0.069	3402	3887	1748
7131	1.44	289.9	192.4	12.9	661	7139	0.00	2.33	0.00	0.000	6	0.000	0.035	3402	2535	1748
7456	1.53	357.7	160.6	8.1	692	7552	0.15	2.55	86.12	0.654	4	0.047	0.063	3448	3887	1477
7576	1.53	357.7	147.7	12.8	702	7580	0.00	2.33	0.00	0.000	6	0.000	0.033	3449	2538	1475
7900	1.53	357.7	104.7	13.2	732	7901	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2536	1472
8220	1.53	357.7	68.7	11.8	762	8221	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2536	1472
8539	1.57	391.7	39.4	9.1	792	8588	0.00	2.53	42.30	0.552	4	0.000	0.059	3448	3891	1339
8627	1.57	391.7	30.6	10.4	799	8635	0.00	2.33	0.00	0.000	6	0.000	0.029	3448	2538	1338
8831	1.57	391.7	8.3	11.1	828	8838	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2535	1337
8875	end climb: SURFACE_DEPTH_REACHED
state	8875	begin surface coast
8915	end surface coast: CONTROL_FINISHED_OK
state	8915	begin surface