Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 39 * 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 39 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 -107153.96 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 200 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 -107153.96

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 31 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 200 R_STBD_OVSHOOT 40 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 39 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 125339,2154.806,-15943.094,40,1.6,48,9.8 TGT_LATLONG 2153.300,-15940.300

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 4 KALMAN_CONTROL 0.290,-0.056

_XMS_TOUTs 0 KALMAN_X -47863.1,1401.0,395.5,48067.8,-2446.4

_SM_DEPTHo 1.37 KALMAN_Y 11065.9,-194.8,-49.1,-12589.1,-19.6

_SM_ANGLEo -56.1 MHEAD_RNG_PITCHd_Wd 91.2,5582,-15.7,-10.000

GPS2 130658,2154.753,-15943.146,13,2.7,32,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.296 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TB

Post-dive calculations and measurements:

FINISH 0.7,1.022886 MM_CLLLayer 0.03

SM_CCo 12715,0.00,0.000,0,0,740,534.02 MM_CfgFile 0.30

SM_GC 1.19,11.27,0.00,0.00,0.030,0.000,0.000,403,1964,740,-9.77,-0.08,534.02 _24V_AH 23.6,12.901

IRIDIUM_FIX 2143.45,-15926.09,271098,090940 _10V_AH 10.1,5.629

TT8_MAMPS 0.057525 DATA_FILE_SIZE 37783,1191

HUMID 1911 CAP_FILE_SIZE 124966,0

INTERNAL_PRESSURE 7.47099 CFSIZE 260165632,253259776

TCM_TEMP 24.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 020809,164100,2154.581,-15941.334,38,1.0,43,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 184 112.11 SBE_CT 840 24 475.82

Roll_motor 101 77 186.30 nil 0 0 0.00

VBD_pump_during_apogee 663 1083 16959.60 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 25 103 61.83 nil 0 0 0.00

Iridium_during_connect 26 160 98.30 GUMSTIX 166 1000 3935.04

Iridium_during_xfer 536 223 2825.91

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 112 1000 2653.77

GPS 33 50 16.71

TT8 2160 18 392.83

LPSleep 7692 0 30.30

TT8_Active 710 18 129.13

TT8_Sampling 2005 38 769.55

TT8_CF8 942 44 418.72

TT8_Kalman 33 80 26.95

Analog_circuits 1772 12 214.85

GPS_charging 0 0 0.00

Compass 1924 8 155.51

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.45 -194.6 0.0 0.0 0 111 0.00 0.00 -89.88 0.000 2 0.000 0.000 406 1961 3324

114 -1.45 -194.6 3.9 -7.6 15 135 11.02 0.00 -6.65 0.000 6 0.185 0.000 2222 1961 3713

207 -1.45 -194.6 26.9 -18.4 28 211 0.00 2.53 0.00 0.000 4 0.000 0.058 2221 569 3715

239 -1.45 -194.6 33.1 -19.0 30 246 0.00 2.38 0.00 0.000 6 0.000 0.030 2222 1966 3715

437 -1.45 -194.6 70.0 -16.9 49 438 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1971 3716

755 -1.45 -194.6 117.9 -14.3 79 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1971 3718

1074 -1.45 -194.6 157.7 -13.2 109 1075 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1971 3719

1392 -1.45 -194.6 198.5 -12.6 139 1393 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1971 3719

1711 -1.45 -194.6 241.0 -13.6 169 1716 0.00 2.50 0.00 0.000 4 0.000 0.058 2222 3361 3719

1740 -1.45 -194.6 244.7 -13.3 171 1744 0.00 2.40 0.00 0.000 6 0.000 0.037 2222 1971 3719

2066 -1.45 -194.6 283.4 -12.5 201 2070 0.00 2.58 0.00 0.000 4 0.000 0.067 2222 571 3719

2143 -1.45 -194.6 293.3 -11.2 207 2150 0.00 2.40 0.00 0.000 6 0.000 0.036 2222 1969 3719

2469 -1.45 -194.6 329.4 -10.6 238 2474 0.00 2.58 0.00 0.000 4 0.000 0.067 2222 571 3717

2520 -1.45 -194.6 335.3 -11.2 242 2525 0.00 2.42 0.00 0.000 6 0.000 0.038 2221 1978 3717

2847 -1.45 -194.6 372.6 -11.5 272 2851 0.00 2.53 0.00 0.000 4 0.000 0.064 2222 3363 3715

2920 -1.45 -194.6 381.0 -10.5 278 2924 0.00 2.45 0.00 0.000 6 0.000 0.041 2222 1966 3714

3253 -1.45 -194.6 416.5 -10.0 309 3257 0.00 2.58 0.00 0.000 4 0.000 0.064 2222 3371 3712

3307 -1.45 -194.6 422.5 -10.2 313 3315 0.00 2.47 0.00 0.000 6 0.000 0.043 2222 1964 3711

3634 -1.45 -194.6 458.5 -12.2 344 3636 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1962 3709

3952 -1.45 -194.6 490.0 -8.0 374 3953 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1960 3707

4270 -1.45 -194.6 518.1 -10.4 404 4271 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1960 3704

4589 -1.45 -194.6 551.9 -9.8 434 4590 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1960 3701

4908 -1.45 -194.6 579.7 -8.7 464 4912 0.00 2.60 0.00 0.000 4 0.000 0.068 2222 3367 3699

4958 -1.45 -194.6 584.4 -9.1 468 4963 0.00 2.47 0.00 0.000 6 0.000 0.046 2222 1973 3698

5285 -1.45 -194.6 612.4 -8.3 498 5289 0.00 2.65 0.00 0.000 4 0.000 0.077 2222 566 3696

5369 -1.45 -194.6 620.0 -9.0 505 5374 0.00 2.47 0.00 0.000 6 0.000 0.044 2221 1972 3695

5696 -1.45 -194.6 649.4 -9.4 535 5701 0.00 2.65 0.00 0.000 4 0.000 0.072 2222 561 3693

5736 -1.45 -194.6 653.5 -9.9 538 5740 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1979 3692

5803 end dive: TARGET_DEPTH_EXCEEDED

state 5803 begin apogee

5809 -0.38 0.0 660.3 9.5 544 5988 1.15 0.00 173.48 1.083 6 0.104 0.000 2450 1981 2917

5989 end apogee: CONTROL_FINISHED_OK

state 5989 begin climb

5991 1.45 194.6 666.7 0.0 562 6182 1.90 2.78 177.65 1.045 4 0.069 0.071 2856 3399 2122

6200 1.50 234.7 654.6 8.6 581 6246 0.00 2.55 38.10 0.985 6 0.000 0.048 2855 1994 1960

6564 1.51 245.8 618.9 9.6 615 6579 0.00 2.72 10.12 0.894 4 0.000 0.076 2856 584 1915

6598 1.52 253.8 615.5 9.7 618 6613 0.00 2.55 9.77 0.882 6 0.000 0.044 2856 2006 1881

6939 1.52 256.6 583.2 9.9 650 6940 0.00 0.00 0.00 0.000 6 0.000 0.000 2856 2010 1875

7258 1.54 273.3 551.8 9.4 680 7282 0.00 2.67 18.33 0.978 4 0.000 0.073 2856 3396 1802

7317 1.55 278.0 546.0 9.8 685 7330 0.10 2.55 5.90 0.793 6 0.060 0.049 2885 1991 1783

7647 1.56 288.7 515.1 9.6 716 7659 0.00 0.00 10.65 0.933 6 0.000 0.000 2885 1991 1740

7977 1.60 315.7 484.2 9.1 747 8012 0.00 2.70 26.67 0.989 4 0.000 0.071 2885 3390 1629

8069 1.60 315.7 475.1 10.5 755 8073 0.00 2.53 0.00 0.000 6 0.000 0.048 2885 1991 1625

8397 1.63 344.5 444.5 9.0 785 8426 0.00 0.00 27.33 0.951 6 0.000 0.000 2885 1991 1512

8743 1.63 344.5 408.7 10.3 818 8748 0.00 2.62 0.00 0.000 4 0.000 0.069 2885 3390 1506

8771 1.63 344.5 405.5 11.2 820 8776 0.00 2.50 0.00 0.000 6 0.000 0.046 2885 1993 1506

9098 1.66 367.5 371.1 9.2 850 9124 0.00 2.72 21.20 0.902 4 0.000 0.075 2884 585 1418

9155 1.66 367.5 365.1 10.8 855 9159 0.00 2.53 0.00 0.000 6 0.000 0.042 2885 2003 1416

9481 1.66 367.5 331.7 11.4 885 9482 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 2004 1413

9798 1.66 372.0 297.1 9.8 915 9808 0.00 0.00 4.80 0.645 6 0.000 0.000 2885 2005 1400

10128 1.66 372.0 263.2 11.3 946 10129 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 2005 1399

10447 1.70 398.4 233.2 9.1 976 10482 0.12 2.72 25.02 0.791 4 0.048 0.067 2924 592 1291

10509 1.70 398.4 225.9 12.2 981 10517 0.00 2.50 0.00 0.000 6 0.000 0.038 2924 2007 1290

10836 1.70 398.4 185.9 12.8 1012 10840 0.00 2.55 0.00 0.000 4 0.000 0.062 2924 3398 1288

10880 1.70 398.4 180.4 11.9 1015 10887 0.00 2.47 0.00 0.000 6 0.000 0.040 2924 1991 1288

11206 1.70 398.4 145.2 12.1 1046 11210 0.00 2.58 0.00 0.000 4 0.000 0.066 2924 592 1287

11261 1.70 398.4 137.9 12.2 1050 11268 0.00 2.45 0.00 0.000 6 0.000 0.035 2925 2009 1287

11589 1.70 398.4 102.9 11.9 1081 11590 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 2009 1286

11904 1.78 466.0 71.3 7.7 1111 11970 0.00 0.00 58.33 0.630 6 0.000 0.000 2924 2014 1017

12288 1.78 466.0 35.8 10.4 1147 12293 0.00 2.60 0.00 0.000 4 0.000 0.058 2924 590 1011

12328 1.78 466.0 31.3 11.3 1150 12333 0.00 2.40 0.00 0.000 6 0.000 0.030 2924 2001 1011

12531 1.89 556.1 12.6 6.9 1175 12595 0.12 2.53 56.20 0.538 4 0.044 0.051 2971 3389 745

12622 end climb: SURFACE_DEPTH_REACHED

state 12622 begin surface coast

12631 end surface coast: CONTROL_FINISHED_OK

state 12631 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	39	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	-107153.96	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	200	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	125339,2154.806,-15943.094,40,1.6,48,9.8	TGT_LATLONG	2153.300,-15940.300
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	4	KALMAN_CONTROL	0.290,-0.056
_XMS_TOUTs	0	KALMAN_X	-47863.1,1401.0,395.5,48067.8,-2446.4
_SM_DEPTHo	1.37	KALMAN_Y	11065.9,-194.8,-49.1,-12589.1,-19.6
_SM_ANGLEo	-56.1	MHEAD_RNG_PITCHd_Wd	91.2,5582,-15.7,-10.000
GPS2	130658,2154.753,-15943.146,13,2.7,32,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.296	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TB

FINISH	0.7,1.022886	MM_CLLLayer	0.03
SM_CCo	12715,0.00,0.000,0,0,740,534.02	MM_CfgFile	0.30
SM_GC	1.19,11.27,0.00,0.00,0.030,0.000,0.000,403,1964,740,-9.77,-0.08,534.02	_24V_AH	23.6,12.901
IRIDIUM_FIX	2143.45,-15926.09,271098,090940	_10V_AH	10.1,5.629
TT8_MAMPS	0.057525	DATA_FILE_SIZE	37783,1191
HUMID	1911	CAP_FILE_SIZE	124966,0
INTERNAL_PRESSURE	7.47099	CFSIZE	260165632,253259776
TCM_TEMP	24.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	020809,164100,2154.581,-15941.334,38,1.0,43,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	184	112.11	SBE_CT	840	24	475.82
Roll_motor	101	77	186.30	nil	0	0	0.00
VBD_pump_during_apogee	663	1083	16959.60	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	25	103	61.83	nil	0	0	0.00
Iridium_during_connect	26	160	98.30	GUMSTIX	166	1000	3935.04
Iridium_during_xfer	536	223	2825.91
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	112	1000	2653.77
GPS	33	50	16.71
TT8	2160	18	392.83
LPSleep	7692	0	30.30
TT8_Active	710	18	129.13
TT8_Sampling	2005	38	769.55
TT8_CF8	942	44	418.72
TT8_Kalman	33	80	26.95
Analog_circuits	1772	12	214.85
GPS_charging	0	0	0.00
Compass	1924	8	155.51
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.45	-194.6	0.0	0.0	0	111	0.00	0.00	-89.88	0.000	2	0.000	0.000	406	1961	3324
114	-1.45	-194.6	3.9	-7.6	15	135	11.02	0.00	-6.65	0.000	6	0.185	0.000	2222	1961	3713
207	-1.45	-194.6	26.9	-18.4	28	211	0.00	2.53	0.00	0.000	4	0.000	0.058	2221	569	3715
239	-1.45	-194.6	33.1	-19.0	30	246	0.00	2.38	0.00	0.000	6	0.000	0.030	2222	1966	3715
437	-1.45	-194.6	70.0	-16.9	49	438	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1971	3716
755	-1.45	-194.6	117.9	-14.3	79	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1971	3718
1074	-1.45	-194.6	157.7	-13.2	109	1075	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1971	3719
1392	-1.45	-194.6	198.5	-12.6	139	1393	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1971	3719
1711	-1.45	-194.6	241.0	-13.6	169	1716	0.00	2.50	0.00	0.000	4	0.000	0.058	2222	3361	3719
1740	-1.45	-194.6	244.7	-13.3	171	1744	0.00	2.40	0.00	0.000	6	0.000	0.037	2222	1971	3719
2066	-1.45	-194.6	283.4	-12.5	201	2070	0.00	2.58	0.00	0.000	4	0.000	0.067	2222	571	3719
2143	-1.45	-194.6	293.3	-11.2	207	2150	0.00	2.40	0.00	0.000	6	0.000	0.036	2222	1969	3719
2469	-1.45	-194.6	329.4	-10.6	238	2474	0.00	2.58	0.00	0.000	4	0.000	0.067	2222	571	3717
2520	-1.45	-194.6	335.3	-11.2	242	2525	0.00	2.42	0.00	0.000	6	0.000	0.038	2221	1978	3717
2847	-1.45	-194.6	372.6	-11.5	272	2851	0.00	2.53	0.00	0.000	4	0.000	0.064	2222	3363	3715
2920	-1.45	-194.6	381.0	-10.5	278	2924	0.00	2.45	0.00	0.000	6	0.000	0.041	2222	1966	3714
3253	-1.45	-194.6	416.5	-10.0	309	3257	0.00	2.58	0.00	0.000	4	0.000	0.064	2222	3371	3712
3307	-1.45	-194.6	422.5	-10.2	313	3315	0.00	2.47	0.00	0.000	6	0.000	0.043	2222	1964	3711
3634	-1.45	-194.6	458.5	-12.2	344	3636	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1962	3709
3952	-1.45	-194.6	490.0	-8.0	374	3953	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1960	3707
4270	-1.45	-194.6	518.1	-10.4	404	4271	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1960	3704
4589	-1.45	-194.6	551.9	-9.8	434	4590	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1960	3701
4908	-1.45	-194.6	579.7	-8.7	464	4912	0.00	2.60	0.00	0.000	4	0.000	0.068	2222	3367	3699
4958	-1.45	-194.6	584.4	-9.1	468	4963	0.00	2.47	0.00	0.000	6	0.000	0.046	2222	1973	3698
5285	-1.45	-194.6	612.4	-8.3	498	5289	0.00	2.65	0.00	0.000	4	0.000	0.077	2222	566	3696
5369	-1.45	-194.6	620.0	-9.0	505	5374	0.00	2.47	0.00	0.000	6	0.000	0.044	2221	1972	3695
5696	-1.45	-194.6	649.4	-9.4	535	5701	0.00	2.65	0.00	0.000	4	0.000	0.072	2222	561	3693
5736	-1.45	-194.6	653.5	-9.9	538	5740	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1979	3692
5803	end dive: TARGET_DEPTH_EXCEEDED
state	5803	begin apogee
5809	-0.38	0.0	660.3	9.5	544	5988	1.15	0.00	173.48	1.083	6	0.104	0.000	2450	1981	2917
5989	end apogee: CONTROL_FINISHED_OK
state	5989	begin climb
5991	1.45	194.6	666.7	0.0	562	6182	1.90	2.78	177.65	1.045	4	0.069	0.071	2856	3399	2122
6200	1.50	234.7	654.6	8.6	581	6246	0.00	2.55	38.10	0.985	6	0.000	0.048	2855	1994	1960
6564	1.51	245.8	618.9	9.6	615	6579	0.00	2.72	10.12	0.894	4	0.000	0.076	2856	584	1915
6598	1.52	253.8	615.5	9.7	618	6613	0.00	2.55	9.77	0.882	6	0.000	0.044	2856	2006	1881
6939	1.52	256.6	583.2	9.9	650	6940	0.00	0.00	0.00	0.000	6	0.000	0.000	2856	2010	1875
7258	1.54	273.3	551.8	9.4	680	7282	0.00	2.67	18.33	0.978	4	0.000	0.073	2856	3396	1802
7317	1.55	278.0	546.0	9.8	685	7330	0.10	2.55	5.90	0.793	6	0.060	0.049	2885	1991	1783
7647	1.56	288.7	515.1	9.6	716	7659	0.00	0.00	10.65	0.933	6	0.000	0.000	2885	1991	1740
7977	1.60	315.7	484.2	9.1	747	8012	0.00	2.70	26.67	0.989	4	0.000	0.071	2885	3390	1629
8069	1.60	315.7	475.1	10.5	755	8073	0.00	2.53	0.00	0.000	6	0.000	0.048	2885	1991	1625
8397	1.63	344.5	444.5	9.0	785	8426	0.00	0.00	27.33	0.951	6	0.000	0.000	2885	1991	1512
8743	1.63	344.5	408.7	10.3	818	8748	0.00	2.62	0.00	0.000	4	0.000	0.069	2885	3390	1506
8771	1.63	344.5	405.5	11.2	820	8776	0.00	2.50	0.00	0.000	6	0.000	0.046	2885	1993	1506
9098	1.66	367.5	371.1	9.2	850	9124	0.00	2.72	21.20	0.902	4	0.000	0.075	2884	585	1418
9155	1.66	367.5	365.1	10.8	855	9159	0.00	2.53	0.00	0.000	6	0.000	0.042	2885	2003	1416
9481	1.66	367.5	331.7	11.4	885	9482	0.00	0.00	0.00	0.000	6	0.000	0.000	2885	2004	1413
9798	1.66	372.0	297.1	9.8	915	9808	0.00	0.00	4.80	0.645	6	0.000	0.000	2885	2005	1400
10128	1.66	372.0	263.2	11.3	946	10129	0.00	0.00	0.00	0.000	6	0.000	0.000	2885	2005	1399
10447	1.70	398.4	233.2	9.1	976	10482	0.12	2.72	25.02	0.791	4	0.048	0.067	2924	592	1291
10509	1.70	398.4	225.9	12.2	981	10517	0.00	2.50	0.00	0.000	6	0.000	0.038	2924	2007	1290
10836	1.70	398.4	185.9	12.8	1012	10840	0.00	2.55	0.00	0.000	4	0.000	0.062	2924	3398	1288
10880	1.70	398.4	180.4	11.9	1015	10887	0.00	2.47	0.00	0.000	6	0.000	0.040	2924	1991	1288
11206	1.70	398.4	145.2	12.1	1046	11210	0.00	2.58	0.00	0.000	4	0.000	0.066	2924	592	1287
11261	1.70	398.4	137.9	12.2	1050	11268	0.00	2.45	0.00	0.000	6	0.000	0.035	2925	2009	1287
11589	1.70	398.4	102.9	11.9	1081	11590	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	2009	1286
11904	1.78	466.0	71.3	7.7	1111	11970	0.00	0.00	58.33	0.630	6	0.000	0.000	2924	2014	1017
12288	1.78	466.0	35.8	10.4	1147	12293	0.00	2.60	0.00	0.000	4	0.000	0.058	2924	590	1011
12328	1.78	466.0	31.3	11.3	1150	12333	0.00	2.40	0.00	0.000	6	0.000	0.030	2924	2001	1011
12531	1.89	556.1	12.6	6.9	1175	12595	0.12	2.53	56.20	0.538	4	0.044	0.051	2971	3389	745
12622	end climb: SURFACE_DEPTH_REACHED
state	12622	begin surface coast
12631	end surface coast: CONTROL_FINISHED_OK
state	12631	begin surface