Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 36 * 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 36 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 72 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -86533.086 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 -86533.086

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 72 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 250 R_STBD_OVSHOOT 30 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 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 220407,2153.415,-15941.652,34,1.6,34,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 5 TGT_RADIUS 2000.000

_XMS_NAKs 1 KALMAN_CONTROL 0.311,-0.096

_XMS_TOUTs 0 KALMAN_X -54161.0,-684.6,66.3,54360.6,-1978.1

_SM_DEPTHo 0.26 KALMAN_Y 24227.4,118.0,210.1,-29169.3,727.7

_SM_ANGLEo -59.1 MHEAD_RNG_PITCHd_Wd 97.4,3313,-13.9,-10.000

GPS2 223256,2153.599,-15942.200,16,1.6,16,9.8 D_GRID 450

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.1,1.023068 MM_CLLLayer 0.03

SM_CCo 8477,31.02,0.426,0,0,1102,450.13 MM_CfgFile 0.30

SM_GC 0.59,0.00,0.00,31.02,0.000,0.000,0.426,423,2467,1102,-11.62,-0.93,450.13 _24V_AH 23.9,21.789

IRIDIUM_FIX 2143.45,-15940.77,251098,222244 _10V_AH 10.1,25.416

TT8_MAMPS 0.082836 DATA_FILE_SIZE 25282,783

HUMID 1777 CAP_FILE_SIZE 294782,0

INTERNAL_PRESSURE 10.0136 CFSIZE -70647808,-88539136

TCM_TEMP 24.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 010809,005658,2153.692,-15941.262,13,99.0,32,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 82.00 SBE_CT 535 24 307.34

Roll_motor 57 57 79.67 nil 0 0 0.00

VBD_pump_during_apogee 493 778 9187.78 nil 0 0 0.00

VBD_pump_during_surface 31 425 315.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 140 103 346.98 nil 0 0 0.00

Iridium_during_connect 143 160 549.14 GUMSTIX 124 1000 2982.31

Iridium_during_xfer 988 223 5268.06

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 66 1000 1590.62

GPS 16 50 8.50

TT8 1505 18 273.72

LPSleep 4315 0 17.00

TT8_Active 564 18 102.63

TT8_Sampling 1357 38 521.18

TT8_CF8 2485 44 1104.73

TT8_Kalman 33 80 26.95

Analog_circuits 1339 12 162.31

GPS_charging 0 0 0.00

Compass 1305 8 105.48

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

24 -1.69 -243.3 0.0 0.0 0 104 0.00 0.00 -76.57 0.000 2 0.000 0.000 418 2466 3277

110 -1.69 -243.3 3.1 -7.3 11 140 11.20 2.60 -9.85 0.000 4 0.126 0.053 2575 3901 3931

171 -1.69 -243.3 22.5 -21.1 18 176 0.00 2.38 0.00 0.000 6 0.000 0.022 2576 2515 3931

372 -1.69 -243.3 61.5 -16.8 36 378 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2516 3931

700 -1.69 -243.3 116.8 -15.5 67 705 0.00 2.53 0.00 0.000 4 0.000 0.044 2576 3905 3932

760 -1.69 -243.3 125.6 -15.5 71 764 0.00 2.40 0.00 0.000 6 0.000 0.022 2576 2499 3932

1088 -1.69 -243.3 169.7 -12.0 101 1094 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2498 3932

1416 -1.69 -243.3 212.5 -12.7 132 1421 0.00 2.55 0.00 0.000 4 0.000 0.047 2576 3900 3931

1460 -1.69 -243.3 218.2 -13.2 135 1464 0.00 2.40 0.00 0.000 6 0.000 0.025 2576 2502 3932

1788 -1.69 -243.3 259.0 -13.2 165 1792 0.00 2.58 0.00 0.000 4 0.000 0.049 2576 3903 3931

1852 -1.69 -243.3 266.9 -13.4 169 1859 0.00 2.42 0.00 0.000 6 0.000 0.025 2576 2504 3931

2180 -1.69 -243.3 304.9 -11.0 200 2185 0.00 2.42 0.00 0.000 4 0.000 0.049 2576 1099 3929

2245 -1.69 -243.3 312.2 -11.6 204 2252 0.00 2.35 0.00 0.000 6 0.000 0.028 2576 2514 3928

2573 -1.69 -243.3 347.9 -10.7 235 2577 0.00 2.55 0.00 0.000 4 0.000 0.054 2576 3897 3925

2651 -1.69 -243.3 356.6 -11.7 241 2655 0.00 2.45 0.00 0.000 6 0.000 0.028 2576 2497 3925

2979 -1.69 -243.3 391.2 -10.4 271 2983 0.00 2.60 0.00 0.000 4 0.000 0.054 2576 3891 3922

3025 -1.69 -243.3 396.5 -10.8 274 3033 0.00 2.45 0.00 0.000 6 0.000 0.029 2576 2502 3921

3354 -1.69 -243.3 431.8 -11.4 305 3360 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2504 3918

3517 end dive: TARGET_DEPTH_EXCEEDED

state 3518 begin apogee

3530 -0.50 0.0 450.4 11.1 321 3723 1.20 0.00 185.27 0.779 6 0.062 0.000 2839 2708 2937

3729 end apogee: CONTROL_FINISHED_OK

state 3729 begin climb

3734 1.69 243.3 460.0 0.0 340 3933 2.10 2.40 188.32 0.764 4 0.044 0.058 3326 3919 1945

4196 1.69 243.3 422.1 10.1 378 4200 0.00 2.20 0.00 0.000 6 0.000 0.031 3325 2698 1939

4524 1.71 263.1 389.6 9.5 408 4546 0.00 0.00 16.17 0.691 6 0.000 0.000 3325 2698 1863

4868 1.71 263.1 354.8 10.0 440 4874 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2698 1859

5196 1.71 263.1 323.7 10.5 471 5203 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2698 1857

5525 1.71 263.1 288.8 10.8 502 5529 0.00 2.33 0.00 0.000 4 0.000 0.056 3325 3922 1856

5608 1.71 263.1 279.0 11.2 508 5616 0.00 2.20 0.00 0.000 6 0.000 0.029 3325 2684 1856

5937 1.71 263.1 244.1 10.5 539 5943 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2685 1855

6265 1.77 307.1 214.3 8.8 570 6306 0.00 2.40 35.60 0.646 4 0.000 0.053 3325 3929 1684

6334 1.79 325.7 208.1 9.5 575 6359 0.00 2.20 16.60 0.605 6 0.000 0.028 3325 2699 1609

6679 1.79 325.7 174.6 10.5 607 6686 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2699 1604

7008 1.80 330.3 140.3 9.9 638 7021 0.00 2.33 4.30 0.409 4 0.000 0.051 3327 3925 1590

7072 1.80 332.0 133.9 10.0 643 7076 0.00 2.17 0.00 0.000 6 0.000 0.026 3325 2684 1590

7407 1.85 375.0 104.9 8.8 674 7453 0.12 0.00 38.53 0.546 6 0.044 0.000 3370 2684 1407

7776 1.85 375.0 67.3 11.8 709 7782 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 2684 1403

8104 1.85 375.0 34.4 10.4 740 8108 0.00 2.30 0.00 0.000 4 0.000 0.047 3370 3923 1403

8218 1.86 385.0 22.8 9.7 749 8232 0.00 2.12 9.00 0.413 6 0.000 0.023 3370 2696 1367

8398 end climb: SURFACE_DEPTH_REACHED

state 8398 begin surface coast

8444 end surface coast: CONTROL_FINISHED_OK

state 8444 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	36	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	72	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-86533.086	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	220407,2153.415,-15941.652,34,1.6,34,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	5	TGT_RADIUS	2000.000
_XMS_NAKs	1	KALMAN_CONTROL	0.311,-0.096
_XMS_TOUTs	0	KALMAN_X	-54161.0,-684.6,66.3,54360.6,-1978.1
_SM_DEPTHo	0.26	KALMAN_Y	24227.4,118.0,210.1,-29169.3,727.7
_SM_ANGLEo	-59.1	MHEAD_RNG_PITCHd_Wd	97.4,3313,-13.9,-10.000
GPS2	223256,2153.599,-15942.200,16,1.6,16,9.8	D_GRID	450
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.1,1.023068	MM_CLLLayer	0.03
SM_CCo	8477,31.02,0.426,0,0,1102,450.13	MM_CfgFile	0.30
SM_GC	0.59,0.00,0.00,31.02,0.000,0.000,0.426,423,2467,1102,-11.62,-0.93,450.13	_24V_AH	23.9,21.789
IRIDIUM_FIX	2143.45,-15940.77,251098,222244	_10V_AH	10.1,25.416
TT8_MAMPS	0.082836	DATA_FILE_SIZE	25282,783
HUMID	1777	CAP_FILE_SIZE	294782,0
INTERNAL_PRESSURE	10.0136	CFSIZE	-70647808,-88539136
TCM_TEMP	24.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	010809,005658,2153.692,-15941.262,13,99.0,32,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	82.00	SBE_CT	535	24	307.34
Roll_motor	57	57	79.67	nil	0	0	0.00
VBD_pump_during_apogee	493	778	9187.78	nil	0	0	0.00
VBD_pump_during_surface	31	425	315.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	140	103	346.98	nil	0	0	0.00
Iridium_during_connect	143	160	549.14	GUMSTIX	124	1000	2982.31
Iridium_during_xfer	988	223	5268.06
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	66	1000	1590.62
GPS	16	50	8.50
TT8	1505	18	273.72
LPSleep	4315	0	17.00
TT8_Active	564	18	102.63
TT8_Sampling	1357	38	521.18
TT8_CF8	2485	44	1104.73
TT8_Kalman	33	80	26.95
Analog_circuits	1339	12	162.31
GPS_charging	0	0	0.00
Compass	1305	8	105.48
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
24	-1.69	-243.3	0.0	0.0	0	104	0.00	0.00	-76.57	0.000	2	0.000	0.000	418	2466	3277
110	-1.69	-243.3	3.1	-7.3	11	140	11.20	2.60	-9.85	0.000	4	0.126	0.053	2575	3901	3931
171	-1.69	-243.3	22.5	-21.1	18	176	0.00	2.38	0.00	0.000	6	0.000	0.022	2576	2515	3931
372	-1.69	-243.3	61.5	-16.8	36	378	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2516	3931
700	-1.69	-243.3	116.8	-15.5	67	705	0.00	2.53	0.00	0.000	4	0.000	0.044	2576	3905	3932
760	-1.69	-243.3	125.6	-15.5	71	764	0.00	2.40	0.00	0.000	6	0.000	0.022	2576	2499	3932
1088	-1.69	-243.3	169.7	-12.0	101	1094	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2498	3932
1416	-1.69	-243.3	212.5	-12.7	132	1421	0.00	2.55	0.00	0.000	4	0.000	0.047	2576	3900	3931
1460	-1.69	-243.3	218.2	-13.2	135	1464	0.00	2.40	0.00	0.000	6	0.000	0.025	2576	2502	3932
1788	-1.69	-243.3	259.0	-13.2	165	1792	0.00	2.58	0.00	0.000	4	0.000	0.049	2576	3903	3931
1852	-1.69	-243.3	266.9	-13.4	169	1859	0.00	2.42	0.00	0.000	6	0.000	0.025	2576	2504	3931
2180	-1.69	-243.3	304.9	-11.0	200	2185	0.00	2.42	0.00	0.000	4	0.000	0.049	2576	1099	3929
2245	-1.69	-243.3	312.2	-11.6	204	2252	0.00	2.35	0.00	0.000	6	0.000	0.028	2576	2514	3928
2573	-1.69	-243.3	347.9	-10.7	235	2577	0.00	2.55	0.00	0.000	4	0.000	0.054	2576	3897	3925
2651	-1.69	-243.3	356.6	-11.7	241	2655	0.00	2.45	0.00	0.000	6	0.000	0.028	2576	2497	3925
2979	-1.69	-243.3	391.2	-10.4	271	2983	0.00	2.60	0.00	0.000	4	0.000	0.054	2576	3891	3922
3025	-1.69	-243.3	396.5	-10.8	274	3033	0.00	2.45	0.00	0.000	6	0.000	0.029	2576	2502	3921
3354	-1.69	-243.3	431.8	-11.4	305	3360	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2504	3918
3517	end dive: TARGET_DEPTH_EXCEEDED
state	3518	begin apogee
3530	-0.50	0.0	450.4	11.1	321	3723	1.20	0.00	185.27	0.779	6	0.062	0.000	2839	2708	2937
3729	end apogee: CONTROL_FINISHED_OK
state	3729	begin climb
3734	1.69	243.3	460.0	0.0	340	3933	2.10	2.40	188.32	0.764	4	0.044	0.058	3326	3919	1945
4196	1.69	243.3	422.1	10.1	378	4200	0.00	2.20	0.00	0.000	6	0.000	0.031	3325	2698	1939
4524	1.71	263.1	389.6	9.5	408	4546	0.00	0.00	16.17	0.691	6	0.000	0.000	3325	2698	1863
4868	1.71	263.1	354.8	10.0	440	4874	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2698	1859
5196	1.71	263.1	323.7	10.5	471	5203	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2698	1857
5525	1.71	263.1	288.8	10.8	502	5529	0.00	2.33	0.00	0.000	4	0.000	0.056	3325	3922	1856
5608	1.71	263.1	279.0	11.2	508	5616	0.00	2.20	0.00	0.000	6	0.000	0.029	3325	2684	1856
5937	1.71	263.1	244.1	10.5	539	5943	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2685	1855
6265	1.77	307.1	214.3	8.8	570	6306	0.00	2.40	35.60	0.646	4	0.000	0.053	3325	3929	1684
6334	1.79	325.7	208.1	9.5	575	6359	0.00	2.20	16.60	0.605	6	0.000	0.028	3325	2699	1609
6679	1.79	325.7	174.6	10.5	607	6686	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2699	1604
7008	1.80	330.3	140.3	9.9	638	7021	0.00	2.33	4.30	0.409	4	0.000	0.051	3327	3925	1590
7072	1.80	332.0	133.9	10.0	643	7076	0.00	2.17	0.00	0.000	6	0.000	0.026	3325	2684	1590
7407	1.85	375.0	104.9	8.8	674	7453	0.12	0.00	38.53	0.546	6	0.044	0.000	3370	2684	1407
7776	1.85	375.0	67.3	11.8	709	7782	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	2684	1403
8104	1.85	375.0	34.4	10.4	740	8108	0.00	2.30	0.00	0.000	4	0.000	0.047	3370	3923	1403
8218	1.86	385.0	22.8	9.7	749	8232	0.00	2.12	9.00	0.413	6	0.000	0.023	3370	2696	1367
8398	end climb: SURFACE_DEPTH_REACHED
state	8398	begin surface coast
8444	end surface coast: CONTROL_FINISHED_OK
state	8444	begin surface