Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 37 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 24 ESCAPE_HEADING 180 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 37 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3825 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 1970 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1994 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 44 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 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 746 DEVICE2 -1

T_MISSION 275 CALL_TRIES 5 VBD_MAX 3936 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2917 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 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -107104.62 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 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 409 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2542 PRESSURE_YINT -7.1530929 SEABIRD_T_G 0.00439469

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163939 SEABIRD_T_H 0.00064900791

MASS 51956 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5454905e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5957725e-06

FERRY_MAX 0 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.918622

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1128848

HD_A 0.0038360001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0018190074

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019276177

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 PITCH_GAIN 13 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 660 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163939 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1530929 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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -107104.62

CAPMAXSIZE 100000 HD_C 9.8541004e-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 117 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3825 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2542 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1994 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1970 MASS 51956 R_PORT_OVSHOOT 44 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 43 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 24 SEABIRD_C_G -9.918622 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1128848 VBD_MAX 3936

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00019276177 VBD_MIN 746

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-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 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 052554,2154.123,-15942.996,24,1.5,43,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.316,-0.079

_XMS_TOUTs 0 KALMAN_X -43729.6,-1201.8,-53.5,47019.5,-1905.8

_SM_DEPTHo 1.04 KALMAN_Y 10525.4,508.1,13.2,-13925.0,298.5

_SM_ANGLEo -53.0 MHEAD_RNG_PITCHd_Wd 94.2,5121,-13.9,-10.000

GPS2 053255,2154.156,-15943.133,12,1.5,17,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.4,1.005174 MM_CLLLayer 0.03

SM_CCo 12816,0.00,0.000,0,0,739,534.26 MM_CfgFile 0.30

SM_GC 1.17,11.05,0.00,0.00,0.028,0.000,0.000,406,1962,739,-9.77,-0.23,534.26 _24V_AH 23.7,12.431

IRIDIUM_FIX 2143.45,-15943.76,271098,040425 _10V_AH 10.1,5.404

TT8_MAMPS 0.073632 DATA_FILE_SIZE 37835,1201

HUMID 1989 CAP_FILE_SIZE 122420,0

INTERNAL_PRESSURE 7.47099 CFSIZE 260165632,253566976

TCM_TEMP 24.30 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 020809,090837,2153.642,-15940.968,41,1.7,41,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 182 110.21 SBE_CT 846 24 481.71

Roll_motor 121 113 326.20 nil 0 0 0.00

VBD_pump_during_apogee 704 1078 17998.03 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 74.74 nil 0 0 0.00

Iridium_during_connect 29 160 110.69 GUMSTIX 192 1000 4569.05

Iridium_during_xfer 230 223 1220.40

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 85 1000 2027.13

GPS 17 50 8.87

TT8 2183 18 396.95

LPSleep 7658 0 30.17

TT8_Active 775 18 141.06

TT8_Sampling 2014 38 773.20

TT8_CF8 613 44 272.85

TT8_Kalman 33 80 26.94

Analog_circuits 1875 12 227.27

GPS_charging 0 0 0.00

Compass 1962 8 158.58

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 15 begin dive

17 -1.37 -243.3 0.0 0.0 0 118 0.00 0.00 -96.88 0.000 2 0.000 0.000 400 1940 3265

121 -1.37 -243.3 3.2 -5.6 16 149 11.02 2.53 -11.45 0.000 4 0.183 0.070 2239 580 3913

183 -1.37 -243.3 19.3 -19.0 26 190 0.00 2.35 0.00 0.000 6 0.000 0.031 2239 1967 3913

253 -1.37 -243.3 32.1 -19.3 33 254 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1967 3914

445 -1.37 -243.3 64.8 -16.0 51 447 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1971 3914

763 -1.37 -243.3 112.4 -15.0 81 767 0.00 2.47 0.00 0.000 4 0.000 0.052 2240 3364 3915

784 -1.37 -243.3 115.8 -15.9 82 791 0.00 2.35 0.00 0.000 6 0.000 0.035 2239 1988 3915

1110 -1.37 -243.3 159.9 -13.1 113 1114 0.00 2.58 0.00 0.000 4 0.000 0.063 2239 562 3916

1160 -1.37 -243.3 166.5 -12.4 117 1164 0.00 2.40 0.00 0.000 6 0.000 0.033 2240 1980 3916

1487 -1.37 -243.3 203.4 -10.4 147 1491 0.00 2.47 0.00 0.000 4 0.000 0.056 2239 3370 3917

1527 -1.37 -243.3 207.6 -10.0 150 1531 0.00 2.40 0.00 0.000 6 0.000 0.037 2239 1969 3917

1853 -1.37 -243.3 244.0 -12.7 180 1857 0.00 2.50 0.00 0.000 4 0.000 0.056 2239 3366 3917

1892 -1.37 -243.3 249.3 -12.5 183 1896 0.00 2.42 0.00 0.000 6 0.000 0.038 2239 1961 3917

2218 -1.37 -243.3 289.2 -11.3 213 2222 0.00 2.58 0.00 0.000 4 0.000 0.070 2239 562 3917

2273 -1.37 -243.3 295.7 -11.8 217 2281 0.00 2.42 0.00 0.000 6 0.000 0.037 2239 1977 3916

2600 -1.37 -243.3 328.9 -10.5 248 2601 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 1977 3915

2917 -1.37 -243.3 362.7 -10.4 278 2922 0.00 2.53 0.00 0.000 4 0.000 0.065 2239 3365 3912

2950 -1.37 -243.3 366.3 -10.6 280 2957 0.00 2.45 0.00 0.000 6 0.000 0.043 2240 1966 3912

3277 -1.37 -243.3 396.2 -9.1 311 3281 0.00 2.62 0.00 0.000 4 0.000 0.076 2239 560 3909

3316 -1.37 -243.3 400.2 -9.6 314 3321 0.00 2.45 0.00 0.000 6 0.000 0.041 2240 1976 3910

3643 -1.37 -243.3 431.2 -9.4 344 3644 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 1976 3906

3960 -1.37 -243.3 460.4 -8.8 374 3964 0.00 2.62 0.00 0.000 4 0.000 0.073 2240 569 3903

4044 -1.37 -243.3 468.0 -8.8 381 4048 0.00 2.45 0.00 0.000 6 0.000 0.042 2240 1977 3903

4371 -1.37 -243.3 498.7 -9.9 411 4375 0.00 2.62 0.00 0.000 4 0.000 0.072 2241 568 3899

4436 -1.37 -243.3 505.9 -10.3 416 4444 0.00 2.45 0.00 0.000 6 0.000 0.042 2240 1975 3899

4764 -1.37 -243.3 536.6 -9.1 447 4765 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1974 3896

5080 -1.37 -243.3 568.3 -10.4 477 5085 0.00 2.58 0.00 0.000 4 0.000 0.071 2240 3368 3894

5147 -1.37 -243.3 575.5 -10.7 482 5154 0.00 2.47 0.00 0.000 6 0.000 0.047 2239 1972 3892

5473 -1.37 -243.3 607.6 -10.7 513 5478 0.00 2.65 0.00 0.000 4 0.000 0.077 2240 559 3890

5517 -1.37 -243.3 612.5 -9.8 516 5524 0.00 2.47 0.00 0.000 6 0.000 0.043 2240 1970 3890

5844 -1.37 -243.3 642.3 -9.9 547 5849 0.00 2.62 0.00 0.000 4 0.000 0.072 2240 561 3888

5884 -1.37 -243.3 646.5 -10.2 550 5888 0.00 2.47 0.00 0.000 6 0.000 0.044 2240 1973 3888

6036 end dive: TARGET_DEPTH_EXCEEDED

state 6036 begin apogee

6042 -0.38 0.0 660.6 8.9 564 6262 1.05 0.00 214.40 1.078 6 0.097 0.000 2452 1978 2917

6263 end apogee: CONTROL_FINISHED_OK

state 6263 begin climb

6265 1.37 243.3 668.1 0.0 586 6505 1.83 2.75 222.43 1.025 4 0.068 0.069 2837 3390 1924

6566 1.43 295.4 647.3 8.6 612 6622 0.00 2.53 49.62 0.984 6 0.000 0.046 2837 1990 1712

6948 1.48 336.7 611.2 8.9 648 6995 0.12 2.75 39.28 0.990 4 0.054 0.076 2872 588 1544

7024 1.48 336.7 603.2 11.7 655 7028 0.00 2.53 0.00 0.000 6 0.000 0.044 2873 2002 1541

7350 1.53 376.0 570.6 8.9 685 7390 0.00 0.00 37.53 0.990 6 0.000 0.000 2872 2002 1385

7709 1.56 395.4 536.7 9.5 719 7730 0.00 0.00 18.70 0.953 6 0.000 0.000 2872 2003 1305

8047 1.56 395.4 503.7 10.6 751 8049 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2004 1300

8364 1.56 395.4 471.8 10.1 781 8369 0.00 2.67 0.00 0.000 4 0.000 0.074 2873 584 1299

8404 1.56 395.4 467.4 11.1 784 8408 0.00 2.50 0.00 0.000 6 0.000 0.044 2873 1992 1298

8730 1.56 395.4 431.8 11.8 814 8731 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 1995 1297

9047 1.56 395.4 394.5 11.9 844 9048 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 1996 1297

9366 1.56 395.4 359.9 10.2 874 9367 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 1997 1296

9684 1.56 395.4 325.0 11.1 904 9685 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 1997 1296

10003 1.56 395.4 287.1 11.7 934 10007 0.00 2.65 0.00 0.000 4 0.000 0.071 2872 581 1295

10024 1.56 395.4 284.7 10.3 935 10031 0.00 2.50 0.00 0.000 6 0.000 0.041 2873 2004 1295

10351 1.59 424.7 254.1 9.2 966 10386 0.00 2.62 26.52 0.821 4 0.000 0.067 2872 3390 1184

10420 1.60 429.4 247.8 9.9 972 10433 0.00 2.50 5.50 0.640 6 0.000 0.043 2872 1990 1166

10750 1.60 429.4 214.9 10.0 1003 10754 0.00 2.62 0.00 0.000 4 0.000 0.071 2872 583 1162

10800 1.60 429.4 209.7 10.7 1007 10805 0.00 2.47 0.00 0.000 6 0.000 0.038 2873 2004 1162

11125 1.64 467.3 183.2 9.0 1037 11171 0.12 2.67 34.62 0.747 4 0.048 0.064 2914 587 1010

11187 1.64 467.3 175.7 12.5 1042 11194 0.00 2.47 0.00 0.000 6 0.000 0.037 2914 2000 1010

11514 1.64 467.3 133.7 14.0 1073 11515 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 2000 1006

11831 1.64 467.3 91.8 13.2 1103 11835 0.00 2.60 0.00 0.000 4 0.000 0.062 2916 588 1006

11885 1.64 467.3 85.2 11.2 1107 11893 0.00 2.42 0.00 0.000 6 0.000 0.035 2914 1992 1005

12213 1.75 550.8 49.6 7.7 1138 12274 0.00 2.65 55.60 0.601 4 0.000 0.062 2914 583 746

12342 1.75 550.8 37.3 10.3 1149 12347 0.00 2.45 0.00 0.000 6 0.000 0.032 2914 2004 743

12541 1.78 576.4 19.0 9.3 1168 12547 0.00 2.50 0.00 0.000 4 0.000 0.055 2914 3391 742

12582 1.81 602.7 15.1 9.3 1175 12589 0.00 2.45 0.00 0.000 6 0.000 0.035 2914 1977 741

12657 1.86 643.1 8.7 8.9 1188 12665 0.15 2.53 0.00 0.000 4 0.042 0.061 2970 595 742

12682 1.86 643.1 5.8 11.8 1192 12690 0.12 2.40 0.00 0.000 6 0.077 0.030 2944 2004 741

12716 end climb: SURFACE_DEPTH_REACHED

state 12716 begin surface coast

12735 end surface coast: CONTROL_FINISHED_OK

state 12735 begin surface

ID	117	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	24	ESCAPE_HEADING	180	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	37	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3825	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	1970	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1994	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	44	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	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	746	DEVICE2	-1
T_MISSION	275	CALL_TRIES	5	VBD_MAX	3936	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2917	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	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-107104.62	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	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	409	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2542	PRESSURE_YINT	-7.1530929	SEABIRD_T_G	0.00439469
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163939	SEABIRD_T_H	0.00064900791
MASS	51956	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5454905e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5957725e-06
FERRY_MAX	0	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.918622
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1128848
HD_A	0.0038360001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0018190074
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019276177
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	052554,2154.123,-15942.996,24,1.5,43,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.316,-0.079
_XMS_TOUTs	0	KALMAN_X	-43729.6,-1201.8,-53.5,47019.5,-1905.8
_SM_DEPTHo	1.04	KALMAN_Y	10525.4,508.1,13.2,-13925.0,298.5
_SM_ANGLEo	-53.0	MHEAD_RNG_PITCHd_Wd	94.2,5121,-13.9,-10.000
GPS2	053255,2154.156,-15943.133,12,1.5,17,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.4,1.005174	MM_CLLLayer	0.03
SM_CCo	12816,0.00,0.000,0,0,739,534.26	MM_CfgFile	0.30
SM_GC	1.17,11.05,0.00,0.00,0.028,0.000,0.000,406,1962,739,-9.77,-0.23,534.26	_24V_AH	23.7,12.431
IRIDIUM_FIX	2143.45,-15943.76,271098,040425	_10V_AH	10.1,5.404
TT8_MAMPS	0.073632	DATA_FILE_SIZE	37835,1201
HUMID	1989	CAP_FILE_SIZE	122420,0
INTERNAL_PRESSURE	7.47099	CFSIZE	260165632,253566976
TCM_TEMP	24.30	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,090837,2153.642,-15940.968,41,1.7,41,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	182	110.21	SBE_CT	846	24	481.71
Roll_motor	121	113	326.20	nil	0	0	0.00
VBD_pump_during_apogee	704	1078	17998.03	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	74.74	nil	0	0	0.00
Iridium_during_connect	29	160	110.69	GUMSTIX	192	1000	4569.05
Iridium_during_xfer	230	223	1220.40
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	85	1000	2027.13
GPS	17	50	8.87
TT8	2183	18	396.95
LPSleep	7658	0	30.17
TT8_Active	775	18	141.06
TT8_Sampling	2014	38	773.20
TT8_CF8	613	44	272.85
TT8_Kalman	33	80	26.94
Analog_circuits	1875	12	227.27
GPS_charging	0	0	0.00
Compass	1962	8	158.58
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	15	begin dive
17	-1.37	-243.3	0.0	0.0	0	118	0.00	0.00	-96.88	0.000	2	0.000	0.000	400	1940	3265
121	-1.37	-243.3	3.2	-5.6	16	149	11.02	2.53	-11.45	0.000	4	0.183	0.070	2239	580	3913
183	-1.37	-243.3	19.3	-19.0	26	190	0.00	2.35	0.00	0.000	6	0.000	0.031	2239	1967	3913
253	-1.37	-243.3	32.1	-19.3	33	254	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1967	3914
445	-1.37	-243.3	64.8	-16.0	51	447	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1971	3914
763	-1.37	-243.3	112.4	-15.0	81	767	0.00	2.47	0.00	0.000	4	0.000	0.052	2240	3364	3915
784	-1.37	-243.3	115.8	-15.9	82	791	0.00	2.35	0.00	0.000	6	0.000	0.035	2239	1988	3915
1110	-1.37	-243.3	159.9	-13.1	113	1114	0.00	2.58	0.00	0.000	4	0.000	0.063	2239	562	3916
1160	-1.37	-243.3	166.5	-12.4	117	1164	0.00	2.40	0.00	0.000	6	0.000	0.033	2240	1980	3916
1487	-1.37	-243.3	203.4	-10.4	147	1491	0.00	2.47	0.00	0.000	4	0.000	0.056	2239	3370	3917
1527	-1.37	-243.3	207.6	-10.0	150	1531	0.00	2.40	0.00	0.000	6	0.000	0.037	2239	1969	3917
1853	-1.37	-243.3	244.0	-12.7	180	1857	0.00	2.50	0.00	0.000	4	0.000	0.056	2239	3366	3917
1892	-1.37	-243.3	249.3	-12.5	183	1896	0.00	2.42	0.00	0.000	6	0.000	0.038	2239	1961	3917
2218	-1.37	-243.3	289.2	-11.3	213	2222	0.00	2.58	0.00	0.000	4	0.000	0.070	2239	562	3917
2273	-1.37	-243.3	295.7	-11.8	217	2281	0.00	2.42	0.00	0.000	6	0.000	0.037	2239	1977	3916
2600	-1.37	-243.3	328.9	-10.5	248	2601	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	1977	3915
2917	-1.37	-243.3	362.7	-10.4	278	2922	0.00	2.53	0.00	0.000	4	0.000	0.065	2239	3365	3912
2950	-1.37	-243.3	366.3	-10.6	280	2957	0.00	2.45	0.00	0.000	6	0.000	0.043	2240	1966	3912
3277	-1.37	-243.3	396.2	-9.1	311	3281	0.00	2.62	0.00	0.000	4	0.000	0.076	2239	560	3909
3316	-1.37	-243.3	400.2	-9.6	314	3321	0.00	2.45	0.00	0.000	6	0.000	0.041	2240	1976	3910
3643	-1.37	-243.3	431.2	-9.4	344	3644	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	1976	3906
3960	-1.37	-243.3	460.4	-8.8	374	3964	0.00	2.62	0.00	0.000	4	0.000	0.073	2240	569	3903
4044	-1.37	-243.3	468.0	-8.8	381	4048	0.00	2.45	0.00	0.000	6	0.000	0.042	2240	1977	3903
4371	-1.37	-243.3	498.7	-9.9	411	4375	0.00	2.62	0.00	0.000	4	0.000	0.072	2241	568	3899
4436	-1.37	-243.3	505.9	-10.3	416	4444	0.00	2.45	0.00	0.000	6	0.000	0.042	2240	1975	3899
4764	-1.37	-243.3	536.6	-9.1	447	4765	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1974	3896
5080	-1.37	-243.3	568.3	-10.4	477	5085	0.00	2.58	0.00	0.000	4	0.000	0.071	2240	3368	3894
5147	-1.37	-243.3	575.5	-10.7	482	5154	0.00	2.47	0.00	0.000	6	0.000	0.047	2239	1972	3892
5473	-1.37	-243.3	607.6	-10.7	513	5478	0.00	2.65	0.00	0.000	4	0.000	0.077	2240	559	3890
5517	-1.37	-243.3	612.5	-9.8	516	5524	0.00	2.47	0.00	0.000	6	0.000	0.043	2240	1970	3890
5844	-1.37	-243.3	642.3	-9.9	547	5849	0.00	2.62	0.00	0.000	4	0.000	0.072	2240	561	3888
5884	-1.37	-243.3	646.5	-10.2	550	5888	0.00	2.47	0.00	0.000	6	0.000	0.044	2240	1973	3888
6036	end dive: TARGET_DEPTH_EXCEEDED
state	6036	begin apogee
6042	-0.38	0.0	660.6	8.9	564	6262	1.05	0.00	214.40	1.078	6	0.097	0.000	2452	1978	2917
6263	end apogee: CONTROL_FINISHED_OK
state	6263	begin climb
6265	1.37	243.3	668.1	0.0	586	6505	1.83	2.75	222.43	1.025	4	0.068	0.069	2837	3390	1924
6566	1.43	295.4	647.3	8.6	612	6622	0.00	2.53	49.62	0.984	6	0.000	0.046	2837	1990	1712
6948	1.48	336.7	611.2	8.9	648	6995	0.12	2.75	39.28	0.990	4	0.054	0.076	2872	588	1544
7024	1.48	336.7	603.2	11.7	655	7028	0.00	2.53	0.00	0.000	6	0.000	0.044	2873	2002	1541
7350	1.53	376.0	570.6	8.9	685	7390	0.00	0.00	37.53	0.990	6	0.000	0.000	2872	2002	1385
7709	1.56	395.4	536.7	9.5	719	7730	0.00	0.00	18.70	0.953	6	0.000	0.000	2872	2003	1305
8047	1.56	395.4	503.7	10.6	751	8049	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2004	1300
8364	1.56	395.4	471.8	10.1	781	8369	0.00	2.67	0.00	0.000	4	0.000	0.074	2873	584	1299
8404	1.56	395.4	467.4	11.1	784	8408	0.00	2.50	0.00	0.000	6	0.000	0.044	2873	1992	1298
8730	1.56	395.4	431.8	11.8	814	8731	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	1995	1297
9047	1.56	395.4	394.5	11.9	844	9048	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	1996	1297
9366	1.56	395.4	359.9	10.2	874	9367	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	1997	1296
9684	1.56	395.4	325.0	11.1	904	9685	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	1997	1296
10003	1.56	395.4	287.1	11.7	934	10007	0.00	2.65	0.00	0.000	4	0.000	0.071	2872	581	1295
10024	1.56	395.4	284.7	10.3	935	10031	0.00	2.50	0.00	0.000	6	0.000	0.041	2873	2004	1295
10351	1.59	424.7	254.1	9.2	966	10386	0.00	2.62	26.52	0.821	4	0.000	0.067	2872	3390	1184
10420	1.60	429.4	247.8	9.9	972	10433	0.00	2.50	5.50	0.640	6	0.000	0.043	2872	1990	1166
10750	1.60	429.4	214.9	10.0	1003	10754	0.00	2.62	0.00	0.000	4	0.000	0.071	2872	583	1162
10800	1.60	429.4	209.7	10.7	1007	10805	0.00	2.47	0.00	0.000	6	0.000	0.038	2873	2004	1162
11125	1.64	467.3	183.2	9.0	1037	11171	0.12	2.67	34.62	0.747	4	0.048	0.064	2914	587	1010
11187	1.64	467.3	175.7	12.5	1042	11194	0.00	2.47	0.00	0.000	6	0.000	0.037	2914	2000	1010
11514	1.64	467.3	133.7	14.0	1073	11515	0.00	0.00	0.00	0.000	6	0.000	0.000	2914	2000	1006
11831	1.64	467.3	91.8	13.2	1103	11835	0.00	2.60	0.00	0.000	4	0.000	0.062	2916	588	1006
11885	1.64	467.3	85.2	11.2	1107	11893	0.00	2.42	0.00	0.000	6	0.000	0.035	2914	1992	1005
12213	1.75	550.8	49.6	7.7	1138	12274	0.00	2.65	55.60	0.601	4	0.000	0.062	2914	583	746
12342	1.75	550.8	37.3	10.3	1149	12347	0.00	2.45	0.00	0.000	6	0.000	0.032	2914	2004	743
12541	1.78	576.4	19.0	9.3	1168	12547	0.00	2.50	0.00	0.000	4	0.000	0.055	2914	3391	742
12582	1.81	602.7	15.1	9.3	1175	12589	0.00	2.45	0.00	0.000	6	0.000	0.035	2914	1977	741
12657	1.86	643.1	8.7	8.9	1188	12665	0.15	2.53	0.00	0.000	4	0.042	0.061	2970	595	742
12682	1.86	643.1	5.8	11.8	1192	12690	0.12	2.40	0.00	0.000	6	0.077	0.030	2944	2004	741
12716	end climb: SURFACE_DEPTH_REACHED
state	12716	begin surface coast
12735	end surface coast: CONTROL_FINISHED_OK
state	12735	begin surface