Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 57 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 21 ESCAPE_HEADING 180 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 57 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 13 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_TGT 270 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 3050 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 17 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 46 INT_PRESSURE_YINT 1.4

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 325 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 90 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 125 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 DEVICE4 -1

T_TURN 300 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 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -87074.844 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 428 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2946 PRESSURE_YINT -8.3219604 SEABIRD_T_G 0.0043077655

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063814409

MASS 51726 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4031482e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4698193e-06

FERRY_MAX 45 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826059

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1260695

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0021108589

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021799213

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3730 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 428 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 270 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.3219604 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 90

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 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -87074.844

CAPMAXSIZE 100000 HD_C 9.8541004e-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 325 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 118 ROLL_DEG 13 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2946 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 3050 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2500 MASS 51726 R_PORT_OVSHOOT 36 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 175 R_STBD_OVSHOOT 46 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 21 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4698193e-06 XPDR_DEVICE -1

DIVE 57 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 003759,2154.038,-15943.718,12,1.7,13,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 400.000

_XMS_NAKs 0 KALMAN_CONTROL 0.209,-0.185

_XMS_TOUTs 0 KALMAN_X -92067.0,-1177.2,-165.6,90177.5,-1044.1

_SM_DEPTHo 0.77 KALMAN_Y 42146.9,244.4,-248.3,-45828.1,981.5

_SM_ANGLEo -60.6 MHEAD_RNG_PITCHd_Wd 121.7,2861,-16.8,-10.000

GPS2 004438,2154.102,-15943.837,14,1.7,14,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.3,1.008301 MM_CLLLayer 0.03

SM_CCo 4917,18.33,0.407,0,0,1306,400.08 MM_CfgFile 0.30

SM_GC 1.07,0.00,0.00,18.33,0.000,0.000,0.407,422,2522,1306,-11.61,0.62,400.08 _24V_AH 24.1,25.000

IRIDIUM_FIX 2143.45,-15943.76,281098,000021 _10V_AH 10.1,27.506

TT8_MAMPS 0.072098 DATA_FILE_SIZE 12686,437

HUMID 1793 CAP_FILE_SIZE 196132,0

INTERNAL_PRESSURE 10.0917 CFSIZE -70647808,-94765056

TCM_TEMP 24.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

MM_GliderControlLayer 0.41 GPS 030809,020926,2153.910,-15943.775,32,99.0,51,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 123 81.54 SBE_CT 294 24 170.49

Roll_motor 24 72 42.66 nil 0 0 0.00

VBD_pump_during_apogee 410 611 6046.14 nil 0 0 0.00

VBD_pump_during_surface 18 406 179.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 GUMSTIX 63 1000 1540.69

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 57 1000 1387.08

GPS 14 50 7.34

TT8 943 18 171.60

LPSleep 1888 0 7.44

TT8_Active 479 18 87.16

TT8_Sampling 983 38 377.52

TT8_CF8 717 44 318.83

TT8_Kalman 33 80 26.94

Analog_circuits 1105 12 134.04

GPS_charging 0 0 0.00

Compass 963 8 77.82

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

24 -1.89 -170.3 0.0 0.0 0 97 0.00 0.00 -70.20 0.000 2 0.000 0.000 421 2520 3281

103 -1.89 -170.3 3.6 -7.5 10 126 10.88 0.75 -5.35 0.000 4 0.123 0.072 2529 2025 3634

223 -1.89 -170.3 34.4 -18.8 22 230 0.00 0.70 0.00 0.000 6 0.000 0.023 2529 2535 3635

296 -1.89 -170.3 47.2 -17.6 29 302 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2535 3635

374 -1.89 -170.3 60.5 -17.9 36 380 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2535 3635

454 -1.89 -170.3 72.8 -16.3 43 460 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2535 3635

532 -1.89 -170.3 84.4 -14.2 50 535 0.00 0.55 0.00 0.000 4 0.000 0.031 2529 2948 3635

654 -1.89 -170.3 104.9 -16.5 60 661 0.00 0.68 0.00 0.000 6 0.000 0.031 2529 2483 3636

728 -1.89 -170.3 116.3 -15.2 67 731 0.00 0.62 0.00 0.000 4 0.000 0.039 2529 2050 3636

800 -1.89 -170.3 126.5 -14.2 73 804 0.00 0.60 0.00 0.000 6 0.000 0.023 2530 2515 3636

879 -1.89 -170.3 137.4 -13.8 80 883 0.00 0.55 0.00 0.000 4 0.000 0.031 2529 2927 3636

1083 -1.89 -170.3 166.8 -14.9 97 1086 0.00 0.62 0.00 0.000 6 0.000 0.032 2530 2493 3636

1162 -1.89 -170.3 179.4 -14.7 104 1168 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2493 3636

1240 -1.89 -170.3 190.2 -15.1 111 1244 0.00 0.60 0.00 0.000 4 0.000 0.031 2529 2921 3636

1307 -1.89 -170.3 199.4 -13.7 116 1310 0.00 0.60 0.00 0.000 6 0.000 0.034 2529 2506 3636

1386 -1.89 -170.3 210.7 -13.5 123 1392 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2507 3636

1464 -1.89 -170.3 220.3 -13.0 130 1470 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2506 3636

1544 -1.89 -170.3 229.6 -12.0 137 1547 0.00 0.60 0.00 0.000 4 0.000 0.033 2529 2924 3636

1790 -1.89 -170.3 259.3 -11.9 158 1793 0.00 0.62 0.00 0.000 6 0.000 0.035 2529 2502 3636

1869 -1.89 -170.3 268.9 -11.7 165 1875 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2502 3636

1884 end dive: TARGET_DEPTH_EXCEEDED

state 1884 begin apogee

1896 -0.50 0.0 271.3 11.4 167 2034 1.38 0.00 127.88 0.611 6 0.066 0.000 2829 3010 2936

2035 end apogee: CONTROL_FINISHED_OK

state 2035 begin climb

2041 1.89 170.3 275.9 0.0 180 2185 2.30 0.95 126.95 0.606 4 0.040 0.043 3364 3491 2242

2292 1.91 181.1 260.3 9.6 201 2305 0.00 0.88 9.62 0.515 6 0.000 0.027 3364 3021 2198

2370 1.94 207.6 253.1 9.0 208 2396 0.00 0.62 21.35 0.567 4 0.000 0.036 3364 2613 2089

2659 1.95 213.8 225.1 9.8 232 2671 0.00 0.68 5.82 0.451 6 0.000 0.036 3364 3060 2065

2737 1.98 243.5 217.5 8.8 239 2765 0.00 0.85 24.00 0.565 4 0.000 0.043 3364 3490 1943

2960 1.98 243.5 196.3 10.2 258 2964 0.00 0.82 0.00 0.000 6 0.000 0.028 3364 3050 1939

3040 2.00 261.0 188.8 9.3 265 3057 0.00 0.68 14.05 0.532 4 0.000 0.035 3364 2606 1873

3130 2.00 261.0 179.8 11.0 272 3133 0.00 0.68 0.00 0.000 6 0.000 0.035 3364 3054 1871

3209 2.00 261.0 171.7 10.3 279 3215 0.00 0.00 0.00 0.000 6 0.000 0.000 3364 3054 1870

3288 2.00 261.0 164.1 10.2 286 3292 0.00 0.88 0.00 0.000 4 0.000 0.044 3364 3491 1869

3458 2.01 263.8 146.5 9.9 300 3465 0.00 0.82 0.00 0.000 6 0.000 0.026 3364 3046 1868

3531 2.01 263.8 139.2 10.1 307 3537 0.00 0.00 0.00 0.000 6 0.000 0.000 3364 3046 1869

3611 2.01 268.5 132.1 9.8 314 3624 0.00 0.93 6.75 0.450 4 0.000 0.040 3364 3497 1842

3690 2.05 297.6 124.2 8.9 320 3721 0.08 0.82 24.42 0.525 6 0.035 0.025 3403 3056 1722

3786 2.05 297.6 114.9 10.1 329 3790 0.00 0.62 0.00 0.000 4 0.000 0.032 3402 2619 1720

3920 2.05 297.6 99.6 11.7 340 3923 0.00 0.65 0.00 0.000 6 0.000 0.034 3402 3056 1718

3999 2.05 297.6 90.0 10.9 347 4002 0.00 0.85 0.00 0.000 4 0.000 0.041 3403 3487 1718

4145 2.05 297.6 76.2 10.7 359 4149 0.00 0.80 0.00 0.000 6 0.000 0.024 3403 3044 1718

4224 2.05 297.6 67.1 11.5 366 4230 0.00 0.00 0.00 0.000 6 0.000 0.000 3403 3041 1717

4302 2.13 359.0 60.5 7.6 373 4361 0.00 0.62 49.55 0.487 4 0.000 0.031 3403 2620 1472

4426 2.13 359.0 49.1 10.5 383 4433 0.00 0.65 0.00 0.000 6 0.000 0.031 3402 3062 1467

4500 2.13 359.0 40.5 11.0 390 4503 0.00 0.82 0.00 0.000 4 0.000 0.038 3402 3481 1466

4837 end climb: SURFACE_DEPTH_REACHED

state 4837 begin surface coast

4882 end surface coast: CONTROL_FINISHED_OK

state 4882 begin surface

ID	118	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	21	ESCAPE_HEADING	180	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	57	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	13	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_TGT	270	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	3050	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	17	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	46	INT_PRESSURE_YINT	1.4
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	325	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	90	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	125	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	DEVICE4	-1
T_TURN	300	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	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-87074.844	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	428	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2946	PRESSURE_YINT	-8.3219604	SEABIRD_T_G	0.0043077655
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063814409
MASS	51726	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4031482e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4698193e-06
FERRY_MAX	45	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826059
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1260695
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0021108589
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021799213
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	003759,2154.038,-15943.718,12,1.7,13,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	400.000
_XMS_NAKs	0	KALMAN_CONTROL	0.209,-0.185
_XMS_TOUTs	0	KALMAN_X	-92067.0,-1177.2,-165.6,90177.5,-1044.1
_SM_DEPTHo	0.77	KALMAN_Y	42146.9,244.4,-248.3,-45828.1,981.5
_SM_ANGLEo	-60.6	MHEAD_RNG_PITCHd_Wd	121.7,2861,-16.8,-10.000
GPS2	004438,2154.102,-15943.837,14,1.7,14,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.3,1.008301	MM_CLLLayer	0.03
SM_CCo	4917,18.33,0.407,0,0,1306,400.08	MM_CfgFile	0.30
SM_GC	1.07,0.00,0.00,18.33,0.000,0.000,0.407,422,2522,1306,-11.61,0.62,400.08	_24V_AH	24.1,25.000
IRIDIUM_FIX	2143.45,-15943.76,281098,000021	_10V_AH	10.1,27.506
TT8_MAMPS	0.072098	DATA_FILE_SIZE	12686,437
HUMID	1793	CAP_FILE_SIZE	196132,0
INTERNAL_PRESSURE	10.0917	CFSIZE	-70647808,-94765056
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
MM_GliderControlLayer	0.41	GPS	030809,020926,2153.910,-15943.775,32,99.0,51,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	123	81.54	SBE_CT	294	24	170.49
Roll_motor	24	72	42.66	nil	0	0	0.00
VBD_pump_during_apogee	410	611	6046.14	nil	0	0	0.00
VBD_pump_during_surface	18	406	179.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	GUMSTIX	63	1000	1540.69
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	57	1000	1387.08
GPS	14	50	7.34
TT8	943	18	171.60
LPSleep	1888	0	7.44
TT8_Active	479	18	87.16
TT8_Sampling	983	38	377.52
TT8_CF8	717	44	318.83
TT8_Kalman	33	80	26.94
Analog_circuits	1105	12	134.04
GPS_charging	0	0	0.00
Compass	963	8	77.82
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
24	-1.89	-170.3	0.0	0.0	0	97	0.00	0.00	-70.20	0.000	2	0.000	0.000	421	2520	3281
103	-1.89	-170.3	3.6	-7.5	10	126	10.88	0.75	-5.35	0.000	4	0.123	0.072	2529	2025	3634
223	-1.89	-170.3	34.4	-18.8	22	230	0.00	0.70	0.00	0.000	6	0.000	0.023	2529	2535	3635
296	-1.89	-170.3	47.2	-17.6	29	302	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2535	3635
374	-1.89	-170.3	60.5	-17.9	36	380	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2535	3635
454	-1.89	-170.3	72.8	-16.3	43	460	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2535	3635
532	-1.89	-170.3	84.4	-14.2	50	535	0.00	0.55	0.00	0.000	4	0.000	0.031	2529	2948	3635
654	-1.89	-170.3	104.9	-16.5	60	661	0.00	0.68	0.00	0.000	6	0.000	0.031	2529	2483	3636
728	-1.89	-170.3	116.3	-15.2	67	731	0.00	0.62	0.00	0.000	4	0.000	0.039	2529	2050	3636
800	-1.89	-170.3	126.5	-14.2	73	804	0.00	0.60	0.00	0.000	6	0.000	0.023	2530	2515	3636
879	-1.89	-170.3	137.4	-13.8	80	883	0.00	0.55	0.00	0.000	4	0.000	0.031	2529	2927	3636
1083	-1.89	-170.3	166.8	-14.9	97	1086	0.00	0.62	0.00	0.000	6	0.000	0.032	2530	2493	3636
1162	-1.89	-170.3	179.4	-14.7	104	1168	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2493	3636
1240	-1.89	-170.3	190.2	-15.1	111	1244	0.00	0.60	0.00	0.000	4	0.000	0.031	2529	2921	3636
1307	-1.89	-170.3	199.4	-13.7	116	1310	0.00	0.60	0.00	0.000	6	0.000	0.034	2529	2506	3636
1386	-1.89	-170.3	210.7	-13.5	123	1392	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2507	3636
1464	-1.89	-170.3	220.3	-13.0	130	1470	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2506	3636
1544	-1.89	-170.3	229.6	-12.0	137	1547	0.00	0.60	0.00	0.000	4	0.000	0.033	2529	2924	3636
1790	-1.89	-170.3	259.3	-11.9	158	1793	0.00	0.62	0.00	0.000	6	0.000	0.035	2529	2502	3636
1869	-1.89	-170.3	268.9	-11.7	165	1875	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2502	3636
1884	end dive: TARGET_DEPTH_EXCEEDED
state	1884	begin apogee
1896	-0.50	0.0	271.3	11.4	167	2034	1.38	0.00	127.88	0.611	6	0.066	0.000	2829	3010	2936
2035	end apogee: CONTROL_FINISHED_OK
state	2035	begin climb
2041	1.89	170.3	275.9	0.0	180	2185	2.30	0.95	126.95	0.606	4	0.040	0.043	3364	3491	2242
2292	1.91	181.1	260.3	9.6	201	2305	0.00	0.88	9.62	0.515	6	0.000	0.027	3364	3021	2198
2370	1.94	207.6	253.1	9.0	208	2396	0.00	0.62	21.35	0.567	4	0.000	0.036	3364	2613	2089
2659	1.95	213.8	225.1	9.8	232	2671	0.00	0.68	5.82	0.451	6	0.000	0.036	3364	3060	2065
2737	1.98	243.5	217.5	8.8	239	2765	0.00	0.85	24.00	0.565	4	0.000	0.043	3364	3490	1943
2960	1.98	243.5	196.3	10.2	258	2964	0.00	0.82	0.00	0.000	6	0.000	0.028	3364	3050	1939
3040	2.00	261.0	188.8	9.3	265	3057	0.00	0.68	14.05	0.532	4	0.000	0.035	3364	2606	1873
3130	2.00	261.0	179.8	11.0	272	3133	0.00	0.68	0.00	0.000	6	0.000	0.035	3364	3054	1871
3209	2.00	261.0	171.7	10.3	279	3215	0.00	0.00	0.00	0.000	6	0.000	0.000	3364	3054	1870
3288	2.00	261.0	164.1	10.2	286	3292	0.00	0.88	0.00	0.000	4	0.000	0.044	3364	3491	1869
3458	2.01	263.8	146.5	9.9	300	3465	0.00	0.82	0.00	0.000	6	0.000	0.026	3364	3046	1868
3531	2.01	263.8	139.2	10.1	307	3537	0.00	0.00	0.00	0.000	6	0.000	0.000	3364	3046	1869
3611	2.01	268.5	132.1	9.8	314	3624	0.00	0.93	6.75	0.450	4	0.000	0.040	3364	3497	1842
3690	2.05	297.6	124.2	8.9	320	3721	0.08	0.82	24.42	0.525	6	0.035	0.025	3403	3056	1722
3786	2.05	297.6	114.9	10.1	329	3790	0.00	0.62	0.00	0.000	4	0.000	0.032	3402	2619	1720
3920	2.05	297.6	99.6	11.7	340	3923	0.00	0.65	0.00	0.000	6	0.000	0.034	3402	3056	1718
3999	2.05	297.6	90.0	10.9	347	4002	0.00	0.85	0.00	0.000	4	0.000	0.041	3403	3487	1718
4145	2.05	297.6	76.2	10.7	359	4149	0.00	0.80	0.00	0.000	6	0.000	0.024	3403	3044	1718
4224	2.05	297.6	67.1	11.5	366	4230	0.00	0.00	0.00	0.000	6	0.000	0.000	3403	3041	1717
4302	2.13	359.0	60.5	7.6	373	4361	0.00	0.62	49.55	0.487	4	0.000	0.031	3403	2620	1472
4426	2.13	359.0	49.1	10.5	383	4433	0.00	0.65	0.00	0.000	6	0.000	0.031	3402	3062	1467
4500	2.13	359.0	40.5	11.0	390	4503	0.00	0.82	0.00	0.000	4	0.000	0.038	3402	3481	1466
4837	end climb: SURFACE_DEPTH_REACHED
state	4837	begin surface coast
4882	end surface coast: CONTROL_FINISHED_OK
state	4882	begin surface