Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 39 * 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 39 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 41 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -58262.93 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 175 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 -58262.93

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 41 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 175 R_STBD_OVSHOOT 28 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 39 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 120625,2153.146,-15940.499,40,1.2,40,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 2 TGT_RADIUS 2000.000

_XMS_NAKs 1 KALMAN_CONTROL 0.028,-0.277

_XMS_TOUTs 1 KALMAN_X -56051.9,556.9,5.4,57710.1,-1362.3

_SM_DEPTHo 0.82 KALMAN_Y 10749.5,-186.0,16.9,-15844.4,288.3

_SM_ANGLEo -68.7 MHEAD_RNG_PITCHd_Wd 164.4,5395,-16.1,-10.000

GPS2 121901,2153.215,-15940.676,11,1.0,16,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.278 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH -0.2,1.010830 MM_CLLLayer 0.03

SM_CCo 13239,33.47,0.502,0,0,1100,450.13 MM_CfgFile 0.30

SM_GC 0.96,0.00,0.00,33.47,0.000,0.000,0.502,125,2636,1100,-13.66,0.23,450.13 _24V_AH 23.6,15.144

IRIDIUM_FIX 2148.09,-15942.95,261098,121237 _10V_AH 9.9,4.813

TT8_MAMPS 0.055991 DATA_FILE_SIZE 37836,1237

HUMID 1799 CAP_FILE_SIZE 443249,0

INTERNAL_PRESSURE 11.3579 CFSIZE 260034560,252620800

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 010809,160224,2151.485,-15941.874,40,0.9,40,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 182 145.83 SBE_CT 831 24 471.06

Roll_motor 102 97 236.49 nil 0 0 0.00

VBD_pump_during_apogee 715 933 15771.78 nil 0 0 0.00

VBD_pump_during_surface 33 502 396.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 103 121.06 nil 0 0 0.00

Iridium_during_connect 68 160 259.92 GUMSTIX 170 1000 4012.94

Iridium_during_xfer 437 223 2305.01

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 90 1000 2140.31

GPS 16 50 8.03

TT8 2396 18 427.09

LPSleep 7384 0 28.51

TT8_Active 770 18 137.23

TT8_Sampling 2165 38 814.62

TT8_CF8 1298 44 565.59

TT8_Kalman 33 80 26.42

Analog_circuits 1943 12 230.92

GPS_charging 0 0 0.00

Compass 2109 8 167.08

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

17 -1.55 -170.3 0.0 0.0 0 100 0.00 0.00 -80.43 0.000 2 0.000 0.000 125 2635 3336

103 -1.55 -170.3 3.0 -6.1 12 132 15.93 2.42 -4.70 0.000 4 0.183 0.044 2752 1231 3633

212 -1.55 -170.3 32.2 -16.3 24 217 0.00 2.42 0.00 0.000 6 0.000 0.035 2752 2627 3634

409 -1.55 -170.3 67.3 -15.8 42 413 0.00 2.40 0.00 0.000 4 0.000 0.031 2752 1223 3635

504 -1.55 -170.3 80.4 -12.9 50 509 0.00 2.45 0.00 0.000 6 0.000 0.035 2752 2640 3635

829 -1.55 -170.3 127.3 -13.9 80 833 0.00 2.30 0.00 0.000 4 0.000 0.067 2752 3890 3637

901 -1.55 -170.3 137.3 -13.2 86 905 0.00 2.12 0.00 0.000 6 0.000 0.029 2752 2619 3638

1230 -1.55 -170.3 176.0 -12.4 117 1235 0.00 2.35 0.00 0.000 4 0.000 0.066 2752 3891 3639

1386 -1.55 -170.3 194.7 -11.4 130 1393 0.00 2.15 0.00 0.000 6 0.000 0.029 2752 2627 3639

1711 -1.55 -170.3 226.9 -9.9 161 1715 0.00 2.40 0.00 0.000 4 0.000 0.038 2752 1233 3639

1767 -1.55 -170.3 232.8 -10.3 165 1774 0.00 2.45 0.00 0.000 6 0.000 0.038 2752 2638 3639

2091 -1.55 -170.3 267.6 -11.2 196 2093 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2638 3638

2410 -1.55 -170.3 302.8 -10.9 226 2411 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2638 3636

2729 -1.55 -170.3 336.6 -10.1 256 2730 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2638 3635

3047 -1.55 -170.3 368.4 -10.6 286 3051 0.00 2.45 0.00 0.000 4 0.000 0.042 2752 1239 3632

3135 -1.55 -170.3 377.9 -10.5 293 3143 0.00 2.50 0.00 0.000 6 0.000 0.044 2752 2629 3632

3461 -1.55 -170.3 408.0 -8.1 324 3462 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2629 3630

3779 -1.55 -170.3 433.9 -8.8 354 3781 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2629 3628

4098 -1.55 -170.3 462.3 -8.9 384 4102 0.00 2.47 0.00 0.000 4 0.000 0.047 2752 1236 3625

4193 -1.55 -170.3 471.2 -9.5 392 4198 0.00 2.50 0.00 0.000 6 0.000 0.048 2752 2634 3625

4518 -1.55 -170.3 500.2 -8.3 422 4519 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2634 3623

4837 -1.55 -170.3 526.3 -7.6 452 4838 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2634 3619

5155 -1.55 -170.3 551.0 -8.0 482 5159 0.00 2.42 0.00 0.000 4 0.000 0.090 2752 3890 3617

5266 -1.55 -170.3 560.2 -8.3 491 5273 0.00 2.20 0.00 0.000 6 0.000 0.040 2752 2647 3617

5591 -1.55 -170.3 582.7 -7.3 522 5595 0.00 2.58 0.00 0.000 4 0.000 0.057 2752 1219 3614

5675 -1.55 -170.3 588.8 -7.7 529 5680 0.00 2.55 0.00 0.000 6 0.000 0.054 2752 2626 3614

6000 -1.55 -170.3 613.3 -8.1 559 6001 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2626 3612

6319 -1.55 -170.3 639.3 -8.7 589 6323 0.00 2.47 0.00 0.000 4 0.000 0.097 2752 3890 3610

6371 -1.55 -170.3 644.2 -9.7 593 6375 0.00 2.22 0.00 0.000 6 0.000 0.042 2752 2629 3609

6555 end dive: TARGET_DEPTH_EXCEEDED

state 6556 begin apogee

6560 -0.42 0.0 660.8 8.5 610 6789 1.23 0.00 219.48 0.933 6 0.087 0.000 3004 2555 2936

6790 end apogee: CONTROL_FINISHED_OK

state 6791 begin climb

6792 1.55 170.3 667.2 0.0 633 7031 1.95 2.60 227.73 0.892 4 0.055 0.053 3435 1143 2241

7211 1.55 170.3 628.8 11.7 669 7216 0.00 2.58 0.00 0.000 6 0.000 0.049 3435 2558 2237

7536 1.55 170.3 592.2 11.2 699 7540 0.00 2.55 0.00 0.000 4 0.000 0.080 3435 3890 2235

7635 1.55 170.3 579.7 12.6 707 7643 0.00 2.40 0.00 0.000 6 0.000 0.043 3435 2553 2233

7960 1.59 200.5 548.0 8.8 738 8008 0.00 2.60 38.92 0.873 4 0.000 0.054 3435 1148 2119

8071 1.61 219.6 537.9 9.2 747 8103 0.00 2.58 26.60 0.848 6 0.000 0.048 3435 2563 2040

8420 1.61 219.6 500.4 11.6 780 8424 0.00 2.53 0.00 0.000 4 0.000 0.079 3435 3888 2036

8539 1.61 219.6 485.2 13.5 790 8544 0.00 2.35 0.00 0.000 6 0.000 0.042 3435 2555 2035

8864 1.61 219.6 448.8 10.9 820 8868 0.00 2.53 0.00 0.000 4 0.000 0.054 3435 1157 2034

8959 1.61 219.6 437.5 12.5 828 8963 0.00 2.53 0.00 0.000 6 0.000 0.048 3435 2556 2034

9283 1.61 219.6 399.6 10.3 858 9287 0.00 2.53 0.00 0.000 4 0.000 0.077 3435 3888 2033

9368 1.61 219.6 390.3 10.8 865 9372 0.00 2.35 0.00 0.000 6 0.000 0.041 3435 2552 2032

9692 1.61 219.6 357.7 10.4 895 9696 0.00 2.50 0.00 0.000 4 0.000 0.052 3435 1154 2032

9797 1.61 219.6 346.4 11.2 904 9805 0.00 2.53 0.00 0.000 6 0.000 0.044 3435 2563 2032

10123 1.62 226.1 314.3 9.7 935 10134 0.00 0.00 7.35 0.696 6 0.000 0.000 3435 2563 2014

10452 1.67 271.3 282.1 8.2 966 10520 0.05 0.00 59.25 0.766 6 0.097 0.000 3455 2563 1830

10835 1.67 271.3 239.0 11.1 1002 10839 0.00 2.53 0.00 0.000 4 0.000 0.044 3456 1148 1825

10886 1.67 271.3 233.3 12.0 1006 10890 0.00 2.53 0.00 0.000 6 0.000 0.041 3456 2566 1824

11210 1.67 271.3 198.6 11.4 1036 11215 0.00 2.47 0.00 0.000 4 0.000 0.070 3456 3890 1824

11266 1.67 271.3 192.2 12.0 1040 11273 0.00 2.33 0.00 0.000 6 0.000 0.035 3456 2539 1823

11590 1.67 271.3 159.8 10.1 1071 11595 0.00 2.42 0.00 0.000 4 0.000 0.041 3456 1155 1823

11630 1.68 277.7 156.0 9.7 1074 11644 0.00 2.47 7.90 0.594 6 0.000 0.039 3456 2559 1804

11960 1.68 277.7 120.9 10.8 1105 11961 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2560 1803

12279 1.71 300.6 87.3 9.1 1135 12313 0.00 0.00 31.23 0.604 6 0.000 0.000 3456 2560 1710

12631 1.73 320.7 52.6 9.2 1168 12662 0.00 0.00 26.70 0.565 6 0.000 0.000 3456 2560 1628

12980 1.77 348.2 22.3 8.9 1201 13023 0.00 2.47 34.28 0.537 4 0.000 0.035 3456 1159 1516

13098 1.81 380.4 10.9 8.7 1218 13141 0.00 2.45 36.53 0.522 6 0.000 0.033 3456 2570 1385

13175 end climb: SURFACE_DEPTH_REACHED

state 13175 begin surface coast

13215 end surface coast: CONTROL_FINISHED_OK

state 13215 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	39	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	41	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-58262.93	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	175	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	120625,2153.146,-15940.499,40,1.2,40,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	2	TGT_RADIUS	2000.000
_XMS_NAKs	1	KALMAN_CONTROL	0.028,-0.277
_XMS_TOUTs	1	KALMAN_X	-56051.9,556.9,5.4,57710.1,-1362.3
_SM_DEPTHo	0.82	KALMAN_Y	10749.5,-186.0,16.9,-15844.4,288.3
_SM_ANGLEo	-68.7	MHEAD_RNG_PITCHd_Wd	164.4,5395,-16.1,-10.000
GPS2	121901,2153.215,-15940.676,11,1.0,16,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.278	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	-0.2,1.010830	MM_CLLLayer	0.03
SM_CCo	13239,33.47,0.502,0,0,1100,450.13	MM_CfgFile	0.30
SM_GC	0.96,0.00,0.00,33.47,0.000,0.000,0.502,125,2636,1100,-13.66,0.23,450.13	_24V_AH	23.6,15.144
IRIDIUM_FIX	2148.09,-15942.95,261098,121237	_10V_AH	9.9,4.813
TT8_MAMPS	0.055991	DATA_FILE_SIZE	37836,1237
HUMID	1799	CAP_FILE_SIZE	443249,0
INTERNAL_PRESSURE	11.3579	CFSIZE	260034560,252620800
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	010809,160224,2151.485,-15941.874,40,0.9,40,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	182	145.83	SBE_CT	831	24	471.06
Roll_motor	102	97	236.49	nil	0	0	0.00
VBD_pump_during_apogee	715	933	15771.78	nil	0	0	0.00
VBD_pump_during_surface	33	502	396.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	103	121.06	nil	0	0	0.00
Iridium_during_connect	68	160	259.92	GUMSTIX	170	1000	4012.94
Iridium_during_xfer	437	223	2305.01
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	90	1000	2140.31
GPS	16	50	8.03
TT8	2396	18	427.09
LPSleep	7384	0	28.51
TT8_Active	770	18	137.23
TT8_Sampling	2165	38	814.62
TT8_CF8	1298	44	565.59
TT8_Kalman	33	80	26.42
Analog_circuits	1943	12	230.92
GPS_charging	0	0	0.00
Compass	2109	8	167.08
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
17	-1.55	-170.3	0.0	0.0	0	100	0.00	0.00	-80.43	0.000	2	0.000	0.000	125	2635	3336
103	-1.55	-170.3	3.0	-6.1	12	132	15.93	2.42	-4.70	0.000	4	0.183	0.044	2752	1231	3633
212	-1.55	-170.3	32.2	-16.3	24	217	0.00	2.42	0.00	0.000	6	0.000	0.035	2752	2627	3634
409	-1.55	-170.3	67.3	-15.8	42	413	0.00	2.40	0.00	0.000	4	0.000	0.031	2752	1223	3635
504	-1.55	-170.3	80.4	-12.9	50	509	0.00	2.45	0.00	0.000	6	0.000	0.035	2752	2640	3635
829	-1.55	-170.3	127.3	-13.9	80	833	0.00	2.30	0.00	0.000	4	0.000	0.067	2752	3890	3637
901	-1.55	-170.3	137.3	-13.2	86	905	0.00	2.12	0.00	0.000	6	0.000	0.029	2752	2619	3638
1230	-1.55	-170.3	176.0	-12.4	117	1235	0.00	2.35	0.00	0.000	4	0.000	0.066	2752	3891	3639
1386	-1.55	-170.3	194.7	-11.4	130	1393	0.00	2.15	0.00	0.000	6	0.000	0.029	2752	2627	3639
1711	-1.55	-170.3	226.9	-9.9	161	1715	0.00	2.40	0.00	0.000	4	0.000	0.038	2752	1233	3639
1767	-1.55	-170.3	232.8	-10.3	165	1774	0.00	2.45	0.00	0.000	6	0.000	0.038	2752	2638	3639
2091	-1.55	-170.3	267.6	-11.2	196	2093	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2638	3638
2410	-1.55	-170.3	302.8	-10.9	226	2411	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2638	3636
2729	-1.55	-170.3	336.6	-10.1	256	2730	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2638	3635
3047	-1.55	-170.3	368.4	-10.6	286	3051	0.00	2.45	0.00	0.000	4	0.000	0.042	2752	1239	3632
3135	-1.55	-170.3	377.9	-10.5	293	3143	0.00	2.50	0.00	0.000	6	0.000	0.044	2752	2629	3632
3461	-1.55	-170.3	408.0	-8.1	324	3462	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2629	3630
3779	-1.55	-170.3	433.9	-8.8	354	3781	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2629	3628
4098	-1.55	-170.3	462.3	-8.9	384	4102	0.00	2.47	0.00	0.000	4	0.000	0.047	2752	1236	3625
4193	-1.55	-170.3	471.2	-9.5	392	4198	0.00	2.50	0.00	0.000	6	0.000	0.048	2752	2634	3625
4518	-1.55	-170.3	500.2	-8.3	422	4519	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2634	3623
4837	-1.55	-170.3	526.3	-7.6	452	4838	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2634	3619
5155	-1.55	-170.3	551.0	-8.0	482	5159	0.00	2.42	0.00	0.000	4	0.000	0.090	2752	3890	3617
5266	-1.55	-170.3	560.2	-8.3	491	5273	0.00	2.20	0.00	0.000	6	0.000	0.040	2752	2647	3617
5591	-1.55	-170.3	582.7	-7.3	522	5595	0.00	2.58	0.00	0.000	4	0.000	0.057	2752	1219	3614
5675	-1.55	-170.3	588.8	-7.7	529	5680	0.00	2.55	0.00	0.000	6	0.000	0.054	2752	2626	3614
6000	-1.55	-170.3	613.3	-8.1	559	6001	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2626	3612
6319	-1.55	-170.3	639.3	-8.7	589	6323	0.00	2.47	0.00	0.000	4	0.000	0.097	2752	3890	3610
6371	-1.55	-170.3	644.2	-9.7	593	6375	0.00	2.22	0.00	0.000	6	0.000	0.042	2752	2629	3609
6555	end dive: TARGET_DEPTH_EXCEEDED
state	6556	begin apogee
6560	-0.42	0.0	660.8	8.5	610	6789	1.23	0.00	219.48	0.933	6	0.087	0.000	3004	2555	2936
6790	end apogee: CONTROL_FINISHED_OK
state	6791	begin climb
6792	1.55	170.3	667.2	0.0	633	7031	1.95	2.60	227.73	0.892	4	0.055	0.053	3435	1143	2241
7211	1.55	170.3	628.8	11.7	669	7216	0.00	2.58	0.00	0.000	6	0.000	0.049	3435	2558	2237
7536	1.55	170.3	592.2	11.2	699	7540	0.00	2.55	0.00	0.000	4	0.000	0.080	3435	3890	2235
7635	1.55	170.3	579.7	12.6	707	7643	0.00	2.40	0.00	0.000	6	0.000	0.043	3435	2553	2233
7960	1.59	200.5	548.0	8.8	738	8008	0.00	2.60	38.92	0.873	4	0.000	0.054	3435	1148	2119
8071	1.61	219.6	537.9	9.2	747	8103	0.00	2.58	26.60	0.848	6	0.000	0.048	3435	2563	2040
8420	1.61	219.6	500.4	11.6	780	8424	0.00	2.53	0.00	0.000	4	0.000	0.079	3435	3888	2036
8539	1.61	219.6	485.2	13.5	790	8544	0.00	2.35	0.00	0.000	6	0.000	0.042	3435	2555	2035
8864	1.61	219.6	448.8	10.9	820	8868	0.00	2.53	0.00	0.000	4	0.000	0.054	3435	1157	2034
8959	1.61	219.6	437.5	12.5	828	8963	0.00	2.53	0.00	0.000	6	0.000	0.048	3435	2556	2034
9283	1.61	219.6	399.6	10.3	858	9287	0.00	2.53	0.00	0.000	4	0.000	0.077	3435	3888	2033
9368	1.61	219.6	390.3	10.8	865	9372	0.00	2.35	0.00	0.000	6	0.000	0.041	3435	2552	2032
9692	1.61	219.6	357.7	10.4	895	9696	0.00	2.50	0.00	0.000	4	0.000	0.052	3435	1154	2032
9797	1.61	219.6	346.4	11.2	904	9805	0.00	2.53	0.00	0.000	6	0.000	0.044	3435	2563	2032
10123	1.62	226.1	314.3	9.7	935	10134	0.00	0.00	7.35	0.696	6	0.000	0.000	3435	2563	2014
10452	1.67	271.3	282.1	8.2	966	10520	0.05	0.00	59.25	0.766	6	0.097	0.000	3455	2563	1830
10835	1.67	271.3	239.0	11.1	1002	10839	0.00	2.53	0.00	0.000	4	0.000	0.044	3456	1148	1825
10886	1.67	271.3	233.3	12.0	1006	10890	0.00	2.53	0.00	0.000	6	0.000	0.041	3456	2566	1824
11210	1.67	271.3	198.6	11.4	1036	11215	0.00	2.47	0.00	0.000	4	0.000	0.070	3456	3890	1824
11266	1.67	271.3	192.2	12.0	1040	11273	0.00	2.33	0.00	0.000	6	0.000	0.035	3456	2539	1823
11590	1.67	271.3	159.8	10.1	1071	11595	0.00	2.42	0.00	0.000	4	0.000	0.041	3456	1155	1823
11630	1.68	277.7	156.0	9.7	1074	11644	0.00	2.47	7.90	0.594	6	0.000	0.039	3456	2559	1804
11960	1.68	277.7	120.9	10.8	1105	11961	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2560	1803
12279	1.71	300.6	87.3	9.1	1135	12313	0.00	0.00	31.23	0.604	6	0.000	0.000	3456	2560	1710
12631	1.73	320.7	52.6	9.2	1168	12662	0.00	0.00	26.70	0.565	6	0.000	0.000	3456	2560	1628
12980	1.77	348.2	22.3	8.9	1201	13023	0.00	2.47	34.28	0.537	4	0.000	0.035	3456	1159	1516
13098	1.81	380.4	10.9	8.7	1218	13141	0.00	2.45	36.53	0.522	6	0.000	0.033	3456	2570	1385
13175	end climb: SURFACE_DEPTH_REACHED
state	13175	begin surface coast
13215	end surface coast: CONTROL_FINISHED_OK
state	13215	begin surface