Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 100 * 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 100 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 270 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2530 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 375 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 51 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 60 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 125 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 -59625.027 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 375

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 270 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 60

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 -59625.027

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 125

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 2530 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2628 MASS 51716 R_PORT_OVSHOOT 51 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 100 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 012743,2155.478,-15945.739,11,1.5,29,9.8 TGT_LATLONG 2154.185,-15941.805

_CALLS 2 TGT_RADIUS 1000.000

_XMS_NAKs 3 KALMAN_CONTROL 0.342,-0.152

_XMS_TOUTs 0 KALMAN_X -164420.8,-1507.4,-472.6,159336.1,-791.9

_SM_DEPTHo 0.82 KALMAN_Y 49695.5,657.3,276.6,-51374.5,383.2

_SM_ANGLEo -64.1 MHEAD_RNG_PITCHd_Wd 104.1,7857,-19.1,-15.000

GPS2 013937,2155.664,-15946.091,36,0.9,36,9.8 D_GRID 270

SPEED_LIMITS 0.150,0.374 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobNE

Post-dive calculations and measurements:

FINISH 0.2,1.023243 MM_CLLLayer 0.03

SM_CCo 4211,0.00,0.000,0,0,765,532.55 MM_CfgFile 0.30

SM_GC 0.92,14.55,0.00,0.00,0.037,0.000,0.000,123,2635,765,-13.59,0.20,532.55 _24V_AH 23.8,27.534

IRIDIUM_FIX 2148.09,-15945.13,011198,010136 _10V_AH 9.9,10.161

TT8_MAMPS 0.056758 DATA_FILE_SIZE 12750,393

HUMID 1936 CAP_FILE_SIZE 174640,0

INTERNAL_PRESSURE 11.3969 CFSIZE 260034560,244887552

TCM_TEMP 23.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 070809,025125,2155.699,-15946.326,8,1.3,14,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 182 145.44 SBE_CT 251 24 143.60

Roll_motor 52 70 88.51 nil 0 0 0.00

VBD_pump_during_apogee 980 619 14462.10 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 60 103 149.22 nil 0 0 0.00

Iridium_during_connect 54 160 206.28 GUMSTIX 107 1000 2565.16

Iridium_during_xfer 403 223 2140.06

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 32 1000 770.17

GPS 36 50 18.22

TT8 723 18 128.98

LPSleep 1625 0 6.28

TT8_Active 907 18 161.64

TT8_Sampling 823 38 309.83

TT8_CF8 848 44 369.57

TT8_Kalman 33 80 26.40

Analog_circuits 1538 12 182.81

GPS_charging 0 0 0.00

Compass 759 8 60.19

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

17 -1.89 -243.3 0.0 0.0 0 116 0.00 0.00 -94.05 0.000 2 0.000 0.000 123 2634 3383

118 -1.89 -243.3 3.7 -9.4 14 148 15.40 2.40 -8.18 0.000 4 0.183 0.043 2674 1228 3929

172 -1.89 -243.3 24.5 -27.0 21 176 0.00 2.42 0.00 0.000 6 0.000 0.035 2674 2629 3929

243 -1.89 -243.3 42.0 -25.0 27 244 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2629 3928

306 -1.89 -243.3 56.4 -21.4 33 307 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2629 3927

370 -1.89 -243.3 69.1 -20.0 39 371 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2629 3926

434 -1.89 -243.3 82.6 -21.8 45 435 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2629 3926

499 -1.89 -243.3 95.1 -19.2 51 503 0.00 2.30 0.00 0.000 4 0.000 0.064 2674 3890 3926

575 -1.89 -243.3 110.4 -19.8 57 583 0.00 2.12 0.00 0.000 6 0.000 0.028 2674 2625 3926

645 -1.89 -243.3 123.0 -18.0 64 649 0.00 2.35 0.00 0.000 4 0.000 0.032 2674 1241 3926

685 -1.89 -243.3 129.4 -15.8 67 689 0.00 2.40 0.00 0.000 6 0.000 0.036 2674 2630 3926

756 -1.89 -243.3 140.9 -17.0 73 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2630 3926

819 -1.89 -243.3 151.9 -16.9 79 823 0.00 2.30 0.00 0.000 4 0.000 0.067 2674 3887 3926

859 -1.89 -243.3 159.5 -18.8 82 863 0.00 2.10 0.00 0.000 6 0.000 0.028 2674 2622 3926

934 -1.89 -243.3 172.3 -15.8 89 935 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2620 3926

999 -1.89 -243.3 182.8 -16.2 95 1000 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2620 3926

1063 -1.89 -243.3 194.0 -18.3 101 1067 0.00 2.35 0.00 0.000 4 0.000 0.035 2674 1242 3926

1095 -1.89 -243.3 200.6 -18.1 103 1103 0.00 2.40 0.00 0.000 6 0.000 0.036 2674 2627 3926

1165 -1.89 -243.3 213.0 -17.8 110 1169 0.00 2.33 0.00 0.000 4 0.000 0.069 2674 3889 3926

1204 -1.89 -243.3 220.5 -19.4 113 1208 0.00 2.10 0.00 0.000 6 0.000 0.030 2674 2629 3926

1280 -1.89 -243.3 233.4 -16.7 120 1281 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2627 3926

1344 -1.89 -243.3 243.6 -15.7 126 1345 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2627 3926

1408 -1.89 -243.3 253.3 -15.8 132 1410 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2627 3926

1472 -1.89 -243.3 263.1 -15.4 138 1473 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2627 3926

1522 end dive: TARGET_DEPTH_EXCEEDED

state 1522 begin apogee

1528 -0.42 0.0 271.4 15.4 143 1846 1.55 0.00 304.80 0.620 6 0.086 0.000 3001 2539 2936

1847 end apogee: CONTROL_FINISHED_OK

state 1848 begin climb

1850 1.89 243.3 285.7 0.0 175 2169 1.98 2.55 304.02 0.609 4 0.048 0.044 3454 1139 1944

2421 1.97 312.9 235.8 12.1 224 2515 0.00 2.47 88.00 0.597 6 0.000 0.038 3453 2541 1660

2586 2.04 365.7 215.6 12.8 239 2662 0.00 2.60 67.90 0.587 4 0.000 0.071 3453 3888 1445

2684 2.05 371.8 202.1 14.7 247 2698 0.00 2.38 8.88 0.503 6 0.000 0.034 3453 2514 1420

2761 2.06 381.1 191.3 14.6 254 2785 0.00 2.53 13.48 0.542 4 0.000 0.043 3453 1130 1382

2813 2.06 384.6 183.5 14.9 258 2824 0.00 2.47 5.95 0.456 6 0.000 0.038 3453 2532 1367

2895 2.06 384.6 170.9 15.6 266 2897 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2531 1365

2960 2.06 384.6 160.7 15.8 272 2962 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2532 1365

3024 2.06 384.6 150.7 15.7 278 3025 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2532 1364

3088 2.06 384.6 140.7 15.9 284 3089 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2532 1363

3152 2.08 399.7 131.3 14.4 290 3173 0.00 0.00 19.67 0.560 6 0.000 0.000 3453 2532 1306

3234 2.08 401.1 118.9 14.9 298 3235 0.00 0.00 0.00 0.000 6 0.000 0.000 3454 2531 1304

3299 2.08 401.1 108.8 16.5 304 3300 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2532 1304

3363 2.08 401.1 98.6 15.5 310 3364 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2532 1304

3426 2.08 401.1 88.8 15.5 316 3427 0.00 0.00 0.00 0.000 6 0.000 0.000 3454 2532 1303

3490 2.10 419.5 79.5 14.2 322 3526 0.00 2.60 25.65 0.551 4 0.000 0.064 3453 3894 1225

3543 2.13 442.4 71.9 14.0 326 3578 0.00 2.35 29.88 0.541 6 0.000 0.031 3453 2518 1132

3643 2.19 489.4 58.5 13.1 335 3708 0.00 0.00 59.65 0.537 6 0.000 0.000 3453 2518 940

3769 2.26 546.2 42.7 12.6 347 3831 0.00 2.50 52.62 0.521 4 0.000 0.061 3453 3888 769

3869 2.35 618.6 30.3 12.0 355 3877 0.00 2.35 0.00 0.000 6 0.000 0.031 3453 2530 769

3940 2.44 688.6 21.8 12.1 362 3941 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2528 768

4006 2.51 750.1 14.4 12.4 372 4012 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2528 767

4081 2.57 798.8 5.2 13.0 385 4088 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 2528 767

4092 end climb: SURFACE_DEPTH_REACHED

state 4092 begin surface coast

4127 end surface coast: CONTROL_FINISHED_OK

state 4127 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	100	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	270	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2530	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	375	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	51	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	60	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	125	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	-59625.027	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	012743,2155.478,-15945.739,11,1.5,29,9.8	TGT_LATLONG	2154.185,-15941.805
_CALLS	2	TGT_RADIUS	1000.000
_XMS_NAKs	3	KALMAN_CONTROL	0.342,-0.152
_XMS_TOUTs	0	KALMAN_X	-164420.8,-1507.4,-472.6,159336.1,-791.9
_SM_DEPTHo	0.82	KALMAN_Y	49695.5,657.3,276.6,-51374.5,383.2
_SM_ANGLEo	-64.1	MHEAD_RNG_PITCHd_Wd	104.1,7857,-19.1,-15.000
GPS2	013937,2155.664,-15946.091,36,0.9,36,9.8	D_GRID	270
SPEED_LIMITS	0.150,0.374	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobNE

FINISH	0.2,1.023243	MM_CLLLayer	0.03
SM_CCo	4211,0.00,0.000,0,0,765,532.55	MM_CfgFile	0.30
SM_GC	0.92,14.55,0.00,0.00,0.037,0.000,0.000,123,2635,765,-13.59,0.20,532.55	_24V_AH	23.8,27.534
IRIDIUM_FIX	2148.09,-15945.13,011198,010136	_10V_AH	9.9,10.161
TT8_MAMPS	0.056758	DATA_FILE_SIZE	12750,393
HUMID	1936	CAP_FILE_SIZE	174640,0
INTERNAL_PRESSURE	11.3969	CFSIZE	260034560,244887552
TCM_TEMP	23.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	070809,025125,2155.699,-15946.326,8,1.3,14,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	182	145.44	SBE_CT	251	24	143.60
Roll_motor	52	70	88.51	nil	0	0	0.00
VBD_pump_during_apogee	980	619	14462.10	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	60	103	149.22	nil	0	0	0.00
Iridium_during_connect	54	160	206.28	GUMSTIX	107	1000	2565.16
Iridium_during_xfer	403	223	2140.06
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	32	1000	770.17
GPS	36	50	18.22
TT8	723	18	128.98
LPSleep	1625	0	6.28
TT8_Active	907	18	161.64
TT8_Sampling	823	38	309.83
TT8_CF8	848	44	369.57
TT8_Kalman	33	80	26.40
Analog_circuits	1538	12	182.81
GPS_charging	0	0	0.00
Compass	759	8	60.19
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
17	-1.89	-243.3	0.0	0.0	0	116	0.00	0.00	-94.05	0.000	2	0.000	0.000	123	2634	3383
118	-1.89	-243.3	3.7	-9.4	14	148	15.40	2.40	-8.18	0.000	4	0.183	0.043	2674	1228	3929
172	-1.89	-243.3	24.5	-27.0	21	176	0.00	2.42	0.00	0.000	6	0.000	0.035	2674	2629	3929
243	-1.89	-243.3	42.0	-25.0	27	244	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2629	3928
306	-1.89	-243.3	56.4	-21.4	33	307	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2629	3927
370	-1.89	-243.3	69.1	-20.0	39	371	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2629	3926
434	-1.89	-243.3	82.6	-21.8	45	435	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2629	3926
499	-1.89	-243.3	95.1	-19.2	51	503	0.00	2.30	0.00	0.000	4	0.000	0.064	2674	3890	3926
575	-1.89	-243.3	110.4	-19.8	57	583	0.00	2.12	0.00	0.000	6	0.000	0.028	2674	2625	3926
645	-1.89	-243.3	123.0	-18.0	64	649	0.00	2.35	0.00	0.000	4	0.000	0.032	2674	1241	3926
685	-1.89	-243.3	129.4	-15.8	67	689	0.00	2.40	0.00	0.000	6	0.000	0.036	2674	2630	3926
756	-1.89	-243.3	140.9	-17.0	73	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2630	3926
819	-1.89	-243.3	151.9	-16.9	79	823	0.00	2.30	0.00	0.000	4	0.000	0.067	2674	3887	3926
859	-1.89	-243.3	159.5	-18.8	82	863	0.00	2.10	0.00	0.000	6	0.000	0.028	2674	2622	3926
934	-1.89	-243.3	172.3	-15.8	89	935	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2620	3926
999	-1.89	-243.3	182.8	-16.2	95	1000	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2620	3926
1063	-1.89	-243.3	194.0	-18.3	101	1067	0.00	2.35	0.00	0.000	4	0.000	0.035	2674	1242	3926
1095	-1.89	-243.3	200.6	-18.1	103	1103	0.00	2.40	0.00	0.000	6	0.000	0.036	2674	2627	3926
1165	-1.89	-243.3	213.0	-17.8	110	1169	0.00	2.33	0.00	0.000	4	0.000	0.069	2674	3889	3926
1204	-1.89	-243.3	220.5	-19.4	113	1208	0.00	2.10	0.00	0.000	6	0.000	0.030	2674	2629	3926
1280	-1.89	-243.3	233.4	-16.7	120	1281	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2627	3926
1344	-1.89	-243.3	243.6	-15.7	126	1345	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2627	3926
1408	-1.89	-243.3	253.3	-15.8	132	1410	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2627	3926
1472	-1.89	-243.3	263.1	-15.4	138	1473	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2627	3926
1522	end dive: TARGET_DEPTH_EXCEEDED
state	1522	begin apogee
1528	-0.42	0.0	271.4	15.4	143	1846	1.55	0.00	304.80	0.620	6	0.086	0.000	3001	2539	2936
1847	end apogee: CONTROL_FINISHED_OK
state	1848	begin climb
1850	1.89	243.3	285.7	0.0	175	2169	1.98	2.55	304.02	0.609	4	0.048	0.044	3454	1139	1944
2421	1.97	312.9	235.8	12.1	224	2515	0.00	2.47	88.00	0.597	6	0.000	0.038	3453	2541	1660
2586	2.04	365.7	215.6	12.8	239	2662	0.00	2.60	67.90	0.587	4	0.000	0.071	3453	3888	1445
2684	2.05	371.8	202.1	14.7	247	2698	0.00	2.38	8.88	0.503	6	0.000	0.034	3453	2514	1420
2761	2.06	381.1	191.3	14.6	254	2785	0.00	2.53	13.48	0.542	4	0.000	0.043	3453	1130	1382
2813	2.06	384.6	183.5	14.9	258	2824	0.00	2.47	5.95	0.456	6	0.000	0.038	3453	2532	1367
2895	2.06	384.6	170.9	15.6	266	2897	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2531	1365
2960	2.06	384.6	160.7	15.8	272	2962	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2532	1365
3024	2.06	384.6	150.7	15.7	278	3025	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2532	1364
3088	2.06	384.6	140.7	15.9	284	3089	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2532	1363
3152	2.08	399.7	131.3	14.4	290	3173	0.00	0.00	19.67	0.560	6	0.000	0.000	3453	2532	1306
3234	2.08	401.1	118.9	14.9	298	3235	0.00	0.00	0.00	0.000	6	0.000	0.000	3454	2531	1304
3299	2.08	401.1	108.8	16.5	304	3300	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2532	1304
3363	2.08	401.1	98.6	15.5	310	3364	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2532	1304
3426	2.08	401.1	88.8	15.5	316	3427	0.00	0.00	0.00	0.000	6	0.000	0.000	3454	2532	1303
3490	2.10	419.5	79.5	14.2	322	3526	0.00	2.60	25.65	0.551	4	0.000	0.064	3453	3894	1225
3543	2.13	442.4	71.9	14.0	326	3578	0.00	2.35	29.88	0.541	6	0.000	0.031	3453	2518	1132
3643	2.19	489.4	58.5	13.1	335	3708	0.00	0.00	59.65	0.537	6	0.000	0.000	3453	2518	940
3769	2.26	546.2	42.7	12.6	347	3831	0.00	2.50	52.62	0.521	4	0.000	0.061	3453	3888	769
3869	2.35	618.6	30.3	12.0	355	3877	0.00	2.35	0.00	0.000	6	0.000	0.031	3453	2530	769
3940	2.44	688.6	21.8	12.1	362	3941	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2528	768
4006	2.51	750.1	14.4	12.4	372	4012	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2528	767
4081	2.57	798.8	5.2	13.0	385	4088	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	2528	767
4092	end climb: SURFACE_DEPTH_REACHED
state	4092	begin surface coast
4127	end surface coast: CONTROL_FINISHED_OK
state	4127	begin surface