Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 37 * 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 37 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 2628 ALTIM_FREQUENCY 12

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2555 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 48 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 770 DEVICE2 -1

T_MISSION 275 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 -58229.527 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 3095 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 660 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 220

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 -58229.527

CAPMAXSIZE 100000 HD_C 9.9999997e-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 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 3095 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2555 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2628 MASS 51716 R_PORT_OVSHOOT 48 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 24 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 37 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 044007,2152.625,-15942.081,36,0.9,36,9.8 TGT_LATLONG 2154.000,-15942.000

_CALLS 2 TGT_RADIUS 2000.000

_XMS_NAKs 2 KALMAN_CONTROL 0.125,0.169

_XMS_TOUTs 0 KALMAN_X -52361.6,-1243.0,-61.7,53110.0,-1152.6

_SM_DEPTHo 0.79 KALMAN_Y 9624.2,284.6,-45.6,-16239.1,332.2

_SM_ANGLEo -64.0 MHEAD_RNG_PITCHd_Wd 26.7,2614,-22.3,-10.000

GPS2 045038,2152.615,-15942.294,11,1.9,11,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T0

Post-dive calculations and measurements:

FINISH -0.2,1.012034 MM_CLLLayer 0.03

SM_CCo 12441,51.47,0.512,0,0,1101,450.13 MM_CfgFile 0.30

SM_GC 0.92,0.00,0.00,51.47,0.000,0.000,0.512,126,2639,1101,-13.66,0.34,450.13 _24V_AH 23.5,14.704

IRIDIUM_FIX 2145.77,-15942.95,261098,040458 _10V_AH 10.0,4.575

TT8_MAMPS 0.072098 DATA_FILE_SIZE 37800,1168

HUMID 1822 CAP_FILE_SIZE 416635,0

INTERNAL_PRESSURE 11.3676 CFSIZE 260034560,252952576

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 010809,082101,2154.081,-15941.594,39,1.6,39,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 181 142.82 SBE_CT 785 24 442.82

Roll_motor 102 85 204.17 nil 0 0 0.00

VBD_pump_during_apogee 612 921 13263.92 nil 0 0 0.00

VBD_pump_during_surface 51 511 618.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 103 128.83 nil 0 0 0.00

Iridium_during_connect 52 160 197.22 GUMSTIX 158 1000 3730.39

Iridium_during_xfer 351 223 1840.35

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 84 1000 1989.60

GPS 11 50 5.61

TT8 2275 18 409.50

LPSleep 6931 0 27.03

TT8_Active 714 18 128.60

TT8_Sampling 2041 38 775.76

TT8_CF8 1160 44 510.44

TT8_Kalman 33 80 26.67

Analog_circuits 1817 12 218.15

GPS_charging 0 0 0.00

Compass 1992 8 159.41

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

17 -1.97 -92.7 0.0 0.0 0 100 0.00 0.00 -79.43 0.000 6 0.000 0.000 126 2632 3314

102 -2.01 -124.9 3.4 -7.7 12 124 15.20 0.00 -2.10 0.000 6 0.181 0.000 2648 2632 3448

189 -2.01 -124.9 30.6 -24.4 23 193 0.00 2.28 0.00 0.000 4 0.000 0.058 2648 3885 3448

273 -2.01 -124.9 51.6 -24.8 30 277 0.00 2.12 0.00 0.000 6 0.000 0.028 2648 2614 3448

603 -2.01 -124.9 107.3 -14.7 61 604 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2614 3450

922 -2.01 -124.9 157.3 -16.1 91 926 0.00 2.35 0.00 0.000 4 0.000 0.034 2648 1233 3452

974 -2.01 -124.9 164.6 -13.8 95 978 0.00 2.42 0.00 0.000 6 0.000 0.036 2648 2635 3452

1298 -2.01 -124.9 207.6 -13.9 125 1299 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2635 3453

1617 -2.01 -124.9 251.0 -13.2 155 1619 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2635 3453

1935 -2.01 -124.9 290.8 -11.6 185 1940 0.00 2.33 0.00 0.000 4 0.000 0.074 2648 3886 3453

2046 -2.01 -124.9 304.6 -11.5 194 2054 0.00 2.15 0.00 0.000 6 0.000 0.031 2648 2637 3453

2372 -2.01 -124.9 343.5 -12.5 225 2376 0.00 2.42 0.00 0.000 4 0.000 0.042 2648 1234 3451

2450 -2.01 -124.9 353.1 -11.4 232 2455 0.00 2.45 0.00 0.000 6 0.000 0.043 2648 2626 3451

2775 -2.01 -124.9 389.0 -10.9 262 2779 0.00 2.35 0.00 0.000 4 0.000 0.074 2647 3893 3448

2821 -2.01 -124.9 394.1 -11.7 266 2826 0.00 2.17 0.00 0.000 6 0.000 0.035 2648 2625 3448

3146 -2.01 -124.9 431.8 -11.6 296 3150 0.00 2.38 0.00 0.000 4 0.000 0.075 2648 3887 3445

3233 -2.01 -124.9 443.7 -12.9 303 3241 0.00 2.20 0.00 0.000 6 0.000 0.037 2648 2631 3445

3559 -2.01 -124.9 480.8 -11.0 334 3563 0.00 2.47 0.00 0.000 4 0.000 0.050 2648 1230 3442

3700 -2.01 -124.9 495.9 -10.9 346 3704 0.00 2.50 0.00 0.000 6 0.000 0.048 2648 2633 3441

4024 -2.01 -124.9 532.3 -12.0 376 4025 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2633 3438

4343 -2.01 -124.9 568.3 -11.6 406 4347 0.00 2.40 0.00 0.000 4 0.000 0.085 2648 3890 3436

4438 -2.01 -124.9 580.5 -12.1 414 4442 0.00 2.20 0.00 0.000 6 0.000 0.040 2648 2630 3436

4763 -2.01 -124.9 617.8 -11.1 444 4766 0.00 2.55 0.00 0.000 4 0.000 0.064 2648 1222 3433

4857 -2.01 -124.9 629.1 -11.5 452 4865 0.00 2.58 0.00 0.000 6 0.000 0.058 2648 2631 3432

5106 end dive: TARGET_DEPTH_EXCEEDED

state 5106 begin apogee

5111 -0.42 0.0 660.1 13.0 476 5280 1.73 0.00 161.85 0.921 6 0.098 0.000 2999 2545 2936

5281 end apogee: CONTROL_FINISHED_OK

state 5281 begin climb

5283 2.01 124.9 668.4 0.0 493 5461 2.05 0.00 168.12 0.884 6 0.054 0.000 3457 2545 2426

5780 2.02 128.3 631.3 9.8 539 5784 0.00 2.55 0.00 0.000 4 0.000 0.053 3457 1143 2420

5898 2.02 128.3 619.3 10.3 549 5903 0.00 2.58 0.00 0.000 6 0.000 0.047 3457 2566 2420

6223 2.03 135.0 587.7 9.5 579 6240 0.00 2.60 12.20 0.824 4 0.000 0.051 3457 1153 2385

6311 2.03 135.0 578.5 10.2 586 6319 0.00 2.58 0.00 0.000 6 0.000 0.048 3457 2556 2384

6637 2.03 135.7 544.6 9.9 617 6641 0.00 2.55 0.00 0.000 4 0.000 0.080 3457 3891 2384

6698 2.03 135.7 538.3 10.7 622 6705 0.00 2.38 0.00 0.000 6 0.000 0.041 3457 2538 2383

7023 2.03 136.6 507.4 9.9 653 7024 0.00 0.00 0.00 0.000 6 0.000 0.000 3457 2538 2382

7341 2.06 165.5 479.2 7.9 683 7383 0.00 0.00 39.70 0.865 6 0.000 0.000 3457 2538 2261

7702 2.07 174.3 446.2 9.4 717 7720 0.00 2.53 12.35 0.797 4 0.000 0.054 3457 1159 2225

7822 2.07 174.3 433.3 11.1 727 7826 0.00 2.53 0.00 0.000 6 0.000 0.047 3457 2558 2224

8147 2.07 174.3 398.1 11.4 757 8151 0.00 2.53 0.00 0.000 4 0.000 0.077 3456 3893 2222

8209 2.07 174.3 390.6 13.0 762 8213 0.00 2.35 0.00 0.000 6 0.000 0.041 3457 2550 2222

8534 2.08 182.0 358.4 9.4 792 8547 0.00 0.00 10.75 0.757 6 0.000 0.000 3457 2550 2193

8864 2.09 189.3 328.0 9.5 823 8880 0.00 2.58 10.62 0.739 4 0.000 0.074 3456 3888 2164

8902 2.09 189.3 323.9 10.8 826 8910 0.00 2.38 0.00 0.000 6 0.000 0.039 3457 2555 2163

9228 2.11 201.8 292.7 9.1 857 9253 0.00 2.55 17.30 0.752 4 0.000 0.051 3457 1157 2113

9291 2.11 201.8 286.1 10.4 862 9299 0.00 2.55 0.00 0.000 6 0.000 0.044 3457 2559 2112

9618 2.12 213.8 253.9 9.1 893 9638 0.00 0.00 16.38 0.726 6 0.000 0.000 3457 2559 2064

9955 2.12 213.8 222.4 10.1 925 9960 0.00 2.50 0.00 0.000 4 0.000 0.072 3456 3892 2063

10018 2.12 213.8 215.4 11.4 930 10022 0.00 2.33 0.00 0.000 6 0.000 0.038 3457 2552 2062

10343 2.13 224.1 185.1 9.3 960 10368 0.00 2.58 14.07 0.676 4 0.000 0.067 3456 3885 2022

10395 2.13 224.1 179.7 10.1 964 10403 0.00 2.33 0.00 0.000 6 0.000 0.036 3457 2547 2022

10720 2.15 236.8 150.4 9.1 995 10741 0.00 0.00 17.30 0.655 6 0.000 0.000 3457 2546 1970

11060 2.20 273.8 122.3 7.3 1027 11114 0.00 2.55 47.38 0.646 4 0.000 0.064 3456 3895 1819

11149 2.20 273.8 113.7 11.3 1034 11153 0.00 2.33 0.00 0.000 6 0.000 0.033 3456 2541 1817

11473 2.20 273.8 80.5 10.7 1064 11477 0.00 2.40 0.00 0.000 4 0.000 0.041 3457 1158 1815

11669 2.20 273.8 60.1 10.5 1081 11677 0.00 2.45 0.00 0.000 6 0.000 0.035 3457 2563 1815

11995 2.25 318.8 35.0 6.7 1112 12059 0.00 2.50 56.08 0.562 4 0.000 0.061 3456 3882 1636

12206 2.28 342.7 18.4 8.3 1132 12242 0.00 2.25 28.62 0.529 6 0.000 0.029 3457 2546 1539

12309 2.28 342.7 7.9 12.4 1149 12315 0.00 0.00 0.00 0.000 6 0.000 0.000 3457 2546 1538

12353 end climb: SURFACE_DEPTH_REACHED

state 12353 begin surface coast

12416 end surface coast: CONTROL_FINISHED_OK

state 12416 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	37	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	2628	ALTIM_FREQUENCY	12
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2555	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	48	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	770	DEVICE2	-1
T_MISSION	275	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	-58229.527	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	3095	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	044007,2152.625,-15942.081,36,0.9,36,9.8	TGT_LATLONG	2154.000,-15942.000
_CALLS	2	TGT_RADIUS	2000.000
_XMS_NAKs	2	KALMAN_CONTROL	0.125,0.169
_XMS_TOUTs	0	KALMAN_X	-52361.6,-1243.0,-61.7,53110.0,-1152.6
_SM_DEPTHo	0.79	KALMAN_Y	9624.2,284.6,-45.6,-16239.1,332.2
_SM_ANGLEo	-64.0	MHEAD_RNG_PITCHd_Wd	26.7,2614,-22.3,-10.000
GPS2	045038,2152.615,-15942.294,11,1.9,11,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T0

FINISH	-0.2,1.012034	MM_CLLLayer	0.03
SM_CCo	12441,51.47,0.512,0,0,1101,450.13	MM_CfgFile	0.30
SM_GC	0.92,0.00,0.00,51.47,0.000,0.000,0.512,126,2639,1101,-13.66,0.34,450.13	_24V_AH	23.5,14.704
IRIDIUM_FIX	2145.77,-15942.95,261098,040458	_10V_AH	10.0,4.575
TT8_MAMPS	0.072098	DATA_FILE_SIZE	37800,1168
HUMID	1822	CAP_FILE_SIZE	416635,0
INTERNAL_PRESSURE	11.3676	CFSIZE	260034560,252952576
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	010809,082101,2154.081,-15941.594,39,1.6,39,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	181	142.82	SBE_CT	785	24	442.82
Roll_motor	102	85	204.17	nil	0	0	0.00
VBD_pump_during_apogee	612	921	13263.92	nil	0	0	0.00
VBD_pump_during_surface	51	511	618.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	103	128.83	nil	0	0	0.00
Iridium_during_connect	52	160	197.22	GUMSTIX	158	1000	3730.39
Iridium_during_xfer	351	223	1840.35
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	84	1000	1989.60
GPS	11	50	5.61
TT8	2275	18	409.50
LPSleep	6931	0	27.03
TT8_Active	714	18	128.60
TT8_Sampling	2041	38	775.76
TT8_CF8	1160	44	510.44
TT8_Kalman	33	80	26.67
Analog_circuits	1817	12	218.15
GPS_charging	0	0	0.00
Compass	1992	8	159.41
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
17	-1.97	-92.7	0.0	0.0	0	100	0.00	0.00	-79.43	0.000	6	0.000	0.000	126	2632	3314
102	-2.01	-124.9	3.4	-7.7	12	124	15.20	0.00	-2.10	0.000	6	0.181	0.000	2648	2632	3448
189	-2.01	-124.9	30.6	-24.4	23	193	0.00	2.28	0.00	0.000	4	0.000	0.058	2648	3885	3448
273	-2.01	-124.9	51.6	-24.8	30	277	0.00	2.12	0.00	0.000	6	0.000	0.028	2648	2614	3448
603	-2.01	-124.9	107.3	-14.7	61	604	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2614	3450
922	-2.01	-124.9	157.3	-16.1	91	926	0.00	2.35	0.00	0.000	4	0.000	0.034	2648	1233	3452
974	-2.01	-124.9	164.6	-13.8	95	978	0.00	2.42	0.00	0.000	6	0.000	0.036	2648	2635	3452
1298	-2.01	-124.9	207.6	-13.9	125	1299	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2635	3453
1617	-2.01	-124.9	251.0	-13.2	155	1619	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2635	3453
1935	-2.01	-124.9	290.8	-11.6	185	1940	0.00	2.33	0.00	0.000	4	0.000	0.074	2648	3886	3453
2046	-2.01	-124.9	304.6	-11.5	194	2054	0.00	2.15	0.00	0.000	6	0.000	0.031	2648	2637	3453
2372	-2.01	-124.9	343.5	-12.5	225	2376	0.00	2.42	0.00	0.000	4	0.000	0.042	2648	1234	3451
2450	-2.01	-124.9	353.1	-11.4	232	2455	0.00	2.45	0.00	0.000	6	0.000	0.043	2648	2626	3451
2775	-2.01	-124.9	389.0	-10.9	262	2779	0.00	2.35	0.00	0.000	4	0.000	0.074	2647	3893	3448
2821	-2.01	-124.9	394.1	-11.7	266	2826	0.00	2.17	0.00	0.000	6	0.000	0.035	2648	2625	3448
3146	-2.01	-124.9	431.8	-11.6	296	3150	0.00	2.38	0.00	0.000	4	0.000	0.075	2648	3887	3445
3233	-2.01	-124.9	443.7	-12.9	303	3241	0.00	2.20	0.00	0.000	6	0.000	0.037	2648	2631	3445
3559	-2.01	-124.9	480.8	-11.0	334	3563	0.00	2.47	0.00	0.000	4	0.000	0.050	2648	1230	3442
3700	-2.01	-124.9	495.9	-10.9	346	3704	0.00	2.50	0.00	0.000	6	0.000	0.048	2648	2633	3441
4024	-2.01	-124.9	532.3	-12.0	376	4025	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2633	3438
4343	-2.01	-124.9	568.3	-11.6	406	4347	0.00	2.40	0.00	0.000	4	0.000	0.085	2648	3890	3436
4438	-2.01	-124.9	580.5	-12.1	414	4442	0.00	2.20	0.00	0.000	6	0.000	0.040	2648	2630	3436
4763	-2.01	-124.9	617.8	-11.1	444	4766	0.00	2.55	0.00	0.000	4	0.000	0.064	2648	1222	3433
4857	-2.01	-124.9	629.1	-11.5	452	4865	0.00	2.58	0.00	0.000	6	0.000	0.058	2648	2631	3432
5106	end dive: TARGET_DEPTH_EXCEEDED
state	5106	begin apogee
5111	-0.42	0.0	660.1	13.0	476	5280	1.73	0.00	161.85	0.921	6	0.098	0.000	2999	2545	2936
5281	end apogee: CONTROL_FINISHED_OK
state	5281	begin climb
5283	2.01	124.9	668.4	0.0	493	5461	2.05	0.00	168.12	0.884	6	0.054	0.000	3457	2545	2426
5780	2.02	128.3	631.3	9.8	539	5784	0.00	2.55	0.00	0.000	4	0.000	0.053	3457	1143	2420
5898	2.02	128.3	619.3	10.3	549	5903	0.00	2.58	0.00	0.000	6	0.000	0.047	3457	2566	2420
6223	2.03	135.0	587.7	9.5	579	6240	0.00	2.60	12.20	0.824	4	0.000	0.051	3457	1153	2385
6311	2.03	135.0	578.5	10.2	586	6319	0.00	2.58	0.00	0.000	6	0.000	0.048	3457	2556	2384
6637	2.03	135.7	544.6	9.9	617	6641	0.00	2.55	0.00	0.000	4	0.000	0.080	3457	3891	2384
6698	2.03	135.7	538.3	10.7	622	6705	0.00	2.38	0.00	0.000	6	0.000	0.041	3457	2538	2383
7023	2.03	136.6	507.4	9.9	653	7024	0.00	0.00	0.00	0.000	6	0.000	0.000	3457	2538	2382
7341	2.06	165.5	479.2	7.9	683	7383	0.00	0.00	39.70	0.865	6	0.000	0.000	3457	2538	2261
7702	2.07	174.3	446.2	9.4	717	7720	0.00	2.53	12.35	0.797	4	0.000	0.054	3457	1159	2225
7822	2.07	174.3	433.3	11.1	727	7826	0.00	2.53	0.00	0.000	6	0.000	0.047	3457	2558	2224
8147	2.07	174.3	398.1	11.4	757	8151	0.00	2.53	0.00	0.000	4	0.000	0.077	3456	3893	2222
8209	2.07	174.3	390.6	13.0	762	8213	0.00	2.35	0.00	0.000	6	0.000	0.041	3457	2550	2222
8534	2.08	182.0	358.4	9.4	792	8547	0.00	0.00	10.75	0.757	6	0.000	0.000	3457	2550	2193
8864	2.09	189.3	328.0	9.5	823	8880	0.00	2.58	10.62	0.739	4	0.000	0.074	3456	3888	2164
8902	2.09	189.3	323.9	10.8	826	8910	0.00	2.38	0.00	0.000	6	0.000	0.039	3457	2555	2163
9228	2.11	201.8	292.7	9.1	857	9253	0.00	2.55	17.30	0.752	4	0.000	0.051	3457	1157	2113
9291	2.11	201.8	286.1	10.4	862	9299	0.00	2.55	0.00	0.000	6	0.000	0.044	3457	2559	2112
9618	2.12	213.8	253.9	9.1	893	9638	0.00	0.00	16.38	0.726	6	0.000	0.000	3457	2559	2064
9955	2.12	213.8	222.4	10.1	925	9960	0.00	2.50	0.00	0.000	4	0.000	0.072	3456	3892	2063
10018	2.12	213.8	215.4	11.4	930	10022	0.00	2.33	0.00	0.000	6	0.000	0.038	3457	2552	2062
10343	2.13	224.1	185.1	9.3	960	10368	0.00	2.58	14.07	0.676	4	0.000	0.067	3456	3885	2022
10395	2.13	224.1	179.7	10.1	964	10403	0.00	2.33	0.00	0.000	6	0.000	0.036	3457	2547	2022
10720	2.15	236.8	150.4	9.1	995	10741	0.00	0.00	17.30	0.655	6	0.000	0.000	3457	2546	1970
11060	2.20	273.8	122.3	7.3	1027	11114	0.00	2.55	47.38	0.646	4	0.000	0.064	3456	3895	1819
11149	2.20	273.8	113.7	11.3	1034	11153	0.00	2.33	0.00	0.000	6	0.000	0.033	3456	2541	1817
11473	2.20	273.8	80.5	10.7	1064	11477	0.00	2.40	0.00	0.000	4	0.000	0.041	3457	1158	1815
11669	2.20	273.8	60.1	10.5	1081	11677	0.00	2.45	0.00	0.000	6	0.000	0.035	3457	2563	1815
11995	2.25	318.8	35.0	6.7	1112	12059	0.00	2.50	56.08	0.562	4	0.000	0.061	3456	3882	1636
12206	2.28	342.7	18.4	8.3	1132	12242	0.00	2.25	28.62	0.529	6	0.000	0.029	3457	2546	1539
12309	2.28	342.7	7.9	12.4	1149	12315	0.00	0.00	0.00	0.000	6	0.000	0.000	3457	2546	1538
12353	end climb: SURFACE_DEPTH_REACHED
state	12353	begin surface coast
12416	end surface coast: CONTROL_FINISHED_OK
state	12416	begin surface