Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 59 * 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 59 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 11 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 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 -87117.797 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 -87117.797

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 11 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 32 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 175 R_STBD_OVSHOOT 43 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 59 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 035119,2153.871,-15944.146,13,1.9,18,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 3 TGT_RADIUS 400.000

_XMS_NAKs 2 KALMAN_CONTROL 0.251,-0.122

_XMS_TOUTs 0 KALMAN_X -95603.1,-1280.5,255.7,92390.4,-1158.6

_SM_DEPTHo 0.91 KALMAN_Y 43173.7,736.0,145.6,-47832.4,633.4

_SM_ANGLEo -63.2 MHEAD_RNG_PITCHd_Wd 106.1,3843,-16.8,-10.000

GPS2 041039,2154.047,-15944.426,13,1.7,26,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.5,1.023006 MM_CLLLayer 0.03

SM_CCo 4842,21.62,0.410,0,0,1306,400.08 MM_CfgFile 0.30

SM_GC 1.48,0.00,0.00,21.62,0.000,0.000,0.410,414,2523,1306,-11.65,0.65,400.08 _24V_AH 24.1,25.264

IRIDIUM_FIX 2145.77,-15945.93,281098,040401 _10V_AH 10.1,27.650

TT8_MAMPS 0.068263 DATA_FILE_SIZE 12709,434

HUMID 1766 CAP_FILE_SIZE 188882,0

INTERNAL_PRESSURE 10.1113 CFSIZE -70647808,-95158272

TCM_TEMP 24.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

MM_GliderControlLayer 0.41 GPS 030809,053401,2153.902,-15944.387,38,1.9,38,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 127 84.38 SBE_CT 291 24 168.89

Roll_motor 15 41 15.17 nil 0 0 0.00

VBD_pump_during_apogee 409 605 5975.15 nil 0 0 0.00

VBD_pump_during_surface 21 409 213.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 84 103 210.92 nil 0 0 0.00

Iridium_during_connect 91 160 353.77 GUMSTIX 80 1000 1950.85

Iridium_during_xfer 639 223 3436.28

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 70 1000 1704.59

GPS 26 50 13.32

TT8 921 18 167.53

LPSleep 1934 0 7.62

TT8_Active 473 18 86.10

TT8_Sampling 1036 38 397.90

TT8_CF8 1655 44 735.88

TT8_Kalman 33 80 26.94

Analog_circuits 1087 12 131.81

GPS_charging 0 0 0.00

Compass 982 8 79.35

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

24 -1.89 -170.3 0.0 0.0 0 97 0.00 0.00 -69.90 0.000 2 0.000 0.000 419 2511 3275

103 -1.89 -170.3 3.6 -7.3 10 125 10.98 0.00 -5.47 0.000 6 0.127 0.000 2530 2512 3636

197 -1.89 -170.3 29.7 -19.9 21 204 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2512 3636

276 -1.89 -170.3 43.2 -17.9 28 279 0.00 0.52 0.00 0.000 4 0.000 0.030 2530 2899 3637

625 -1.89 -170.3 102.2 -14.2 58 632 0.00 0.60 0.00 0.000 6 0.000 0.031 2530 2485 3637

698 -1.89 -170.3 112.6 -14.4 65 702 0.00 0.57 0.00 0.000 4 0.000 0.030 2530 2898 3638

900 -1.89 -170.3 142.5 -15.8 82 907 0.00 0.57 0.00 0.000 6 0.000 0.032 2530 2501 3638

978 -1.89 -170.3 153.9 -15.6 89 985 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2501 3638

1056 -1.89 -170.3 166.2 -16.0 96 1063 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2501 3638

1136 -1.89 -170.3 178.1 -16.0 103 1142 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2501 3638

1214 -1.89 -170.3 189.7 -14.2 110 1218 0.00 0.57 0.00 0.000 4 0.000 0.033 2530 2906 3638

1501 -1.89 -170.3 230.8 -14.4 134 1508 0.00 0.60 0.00 0.000 6 0.000 0.034 2530 2497 3638

1579 -1.89 -170.3 240.8 -13.1 141 1583 0.00 0.55 0.00 0.000 4 0.000 0.041 2530 2118 3638

1652 -1.89 -170.3 251.0 -12.9 147 1655 0.00 0.55 0.00 0.000 6 0.000 0.026 2531 2534 3638

1731 -1.89 -170.3 260.8 -12.3 154 1737 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2535 3638

1810 -1.89 -170.3 269.5 -11.8 161 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2535 3638

1825 end dive: TARGET_DEPTH_EXCEEDED

state 1825 begin apogee

1838 -0.50 0.0 272.4 11.4 163 1976 1.38 0.00 128.23 0.606 6 0.067 0.000 2831 3027 2936

1977 end apogee: CONTROL_FINISHED_OK

state 1977 begin climb

1983 1.89 170.3 276.3 0.0 176 2122 2.30 0.70 126.78 0.602 4 0.040 0.040 3367 3403 2242

2314 1.94 208.7 252.1 8.5 203 2349 0.00 0.62 29.92 0.572 6 0.000 0.027 3367 3029 2085

2424 1.95 217.8 242.3 9.6 213 2434 0.00 0.00 8.32 0.492 6 0.000 0.000 3367 3029 2049

2497 1.98 241.2 235.6 9.1 220 2524 0.00 0.00 19.30 0.553 6 0.000 0.000 3367 3029 1953

2590 1.98 241.2 226.3 10.1 229 2594 0.00 0.47 0.00 0.000 4 0.000 0.032 3367 2684 1950

2793 1.98 241.2 206.3 10.1 246 2797 0.00 0.55 0.00 0.000 6 0.000 0.035 3367 3054 1948

2872 1.98 241.2 197.9 10.5 253 2879 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 3054 1948

2951 1.98 241.2 190.2 10.3 260 2954 0.00 0.62 0.00 0.000 4 0.000 0.041 3367 3400 1948

3308 1.98 241.2 153.7 10.2 290 3315 0.00 0.57 0.00 0.000 6 0.000 0.027 3367 3044 1945

3382 1.99 251.5 146.5 9.6 297 3394 0.00 0.62 8.02 0.468 4 0.000 0.036 3367 3405 1911

3510 2.02 273.4 135.2 9.1 307 3533 0.00 0.57 18.58 0.515 6 0.000 0.025 3367 3055 1822

3607 2.03 282.9 125.7 9.6 316 3618 0.00 0.00 8.85 0.463 6 0.000 0.000 3367 3054 1783

3681 2.04 287.0 118.5 9.8 323 3694 0.10 0.52 4.47 0.370 4 0.048 0.030 3408 2684 1767

3782 2.04 287.0 107.0 11.0 331 3789 0.00 0.55 0.00 0.000 6 0.000 0.033 3408 3058 1766

3855 2.04 287.0 98.8 11.4 338 3859 0.00 0.57 0.00 0.000 4 0.000 0.038 3408 3395 1765

4003 2.06 306.4 83.6 9.2 350 4024 0.00 0.52 16.80 0.476 6 0.000 0.026 3408 3046 1687

4089 2.09 329.5 75.9 9.1 358 4114 0.00 0.52 19.95 0.474 4 0.000 0.029 3408 2682 1591

4234 2.12 353.2 62.1 9.1 370 4259 0.00 0.55 19.95 0.462 6 0.000 0.032 3408 3058 1496

4324 2.12 353.2 52.5 11.4 378 4328 0.00 0.60 0.00 0.000 4 0.000 0.037 3408 3398 1493

4682 2.12 353.2 12.2 11.8 414 4689 0.00 0.55 0.00 0.000 6 0.000 0.025 3408 3043 1492

4763 end climb: SURFACE_DEPTH_REACHED

state 4763 begin surface coast

4808 end surface coast: CONTROL_FINISHED_OK

state 4808 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	59	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	11	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	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	-87117.797	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	035119,2153.871,-15944.146,13,1.9,18,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	3	TGT_RADIUS	400.000
_XMS_NAKs	2	KALMAN_CONTROL	0.251,-0.122
_XMS_TOUTs	0	KALMAN_X	-95603.1,-1280.5,255.7,92390.4,-1158.6
_SM_DEPTHo	0.91	KALMAN_Y	43173.7,736.0,145.6,-47832.4,633.4
_SM_ANGLEo	-63.2	MHEAD_RNG_PITCHd_Wd	106.1,3843,-16.8,-10.000
GPS2	041039,2154.047,-15944.426,13,1.7,26,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.5,1.023006	MM_CLLLayer	0.03
SM_CCo	4842,21.62,0.410,0,0,1306,400.08	MM_CfgFile	0.30
SM_GC	1.48,0.00,0.00,21.62,0.000,0.000,0.410,414,2523,1306,-11.65,0.65,400.08	_24V_AH	24.1,25.264
IRIDIUM_FIX	2145.77,-15945.93,281098,040401	_10V_AH	10.1,27.650
TT8_MAMPS	0.068263	DATA_FILE_SIZE	12709,434
HUMID	1766	CAP_FILE_SIZE	188882,0
INTERNAL_PRESSURE	10.1113	CFSIZE	-70647808,-95158272
TCM_TEMP	24.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
MM_GliderControlLayer	0.41	GPS	030809,053401,2153.902,-15944.387,38,1.9,38,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	127	84.38	SBE_CT	291	24	168.89
Roll_motor	15	41	15.17	nil	0	0	0.00
VBD_pump_during_apogee	409	605	5975.15	nil	0	0	0.00
VBD_pump_during_surface	21	409	213.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	84	103	210.92	nil	0	0	0.00
Iridium_during_connect	91	160	353.77	GUMSTIX	80	1000	1950.85
Iridium_during_xfer	639	223	3436.28
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	70	1000	1704.59
GPS	26	50	13.32
TT8	921	18	167.53
LPSleep	1934	0	7.62
TT8_Active	473	18	86.10
TT8_Sampling	1036	38	397.90
TT8_CF8	1655	44	735.88
TT8_Kalman	33	80	26.94
Analog_circuits	1087	12	131.81
GPS_charging	0	0	0.00
Compass	982	8	79.35
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
24	-1.89	-170.3	0.0	0.0	0	97	0.00	0.00	-69.90	0.000	2	0.000	0.000	419	2511	3275
103	-1.89	-170.3	3.6	-7.3	10	125	10.98	0.00	-5.47	0.000	6	0.127	0.000	2530	2512	3636
197	-1.89	-170.3	29.7	-19.9	21	204	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2512	3636
276	-1.89	-170.3	43.2	-17.9	28	279	0.00	0.52	0.00	0.000	4	0.000	0.030	2530	2899	3637
625	-1.89	-170.3	102.2	-14.2	58	632	0.00	0.60	0.00	0.000	6	0.000	0.031	2530	2485	3637
698	-1.89	-170.3	112.6	-14.4	65	702	0.00	0.57	0.00	0.000	4	0.000	0.030	2530	2898	3638
900	-1.89	-170.3	142.5	-15.8	82	907	0.00	0.57	0.00	0.000	6	0.000	0.032	2530	2501	3638
978	-1.89	-170.3	153.9	-15.6	89	985	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2501	3638
1056	-1.89	-170.3	166.2	-16.0	96	1063	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2501	3638
1136	-1.89	-170.3	178.1	-16.0	103	1142	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2501	3638
1214	-1.89	-170.3	189.7	-14.2	110	1218	0.00	0.57	0.00	0.000	4	0.000	0.033	2530	2906	3638
1501	-1.89	-170.3	230.8	-14.4	134	1508	0.00	0.60	0.00	0.000	6	0.000	0.034	2530	2497	3638
1579	-1.89	-170.3	240.8	-13.1	141	1583	0.00	0.55	0.00	0.000	4	0.000	0.041	2530	2118	3638
1652	-1.89	-170.3	251.0	-12.9	147	1655	0.00	0.55	0.00	0.000	6	0.000	0.026	2531	2534	3638
1731	-1.89	-170.3	260.8	-12.3	154	1737	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2535	3638
1810	-1.89	-170.3	269.5	-11.8	161	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2535	3638
1825	end dive: TARGET_DEPTH_EXCEEDED
state	1825	begin apogee
1838	-0.50	0.0	272.4	11.4	163	1976	1.38	0.00	128.23	0.606	6	0.067	0.000	2831	3027	2936
1977	end apogee: CONTROL_FINISHED_OK
state	1977	begin climb
1983	1.89	170.3	276.3	0.0	176	2122	2.30	0.70	126.78	0.602	4	0.040	0.040	3367	3403	2242
2314	1.94	208.7	252.1	8.5	203	2349	0.00	0.62	29.92	0.572	6	0.000	0.027	3367	3029	2085
2424	1.95	217.8	242.3	9.6	213	2434	0.00	0.00	8.32	0.492	6	0.000	0.000	3367	3029	2049
2497	1.98	241.2	235.6	9.1	220	2524	0.00	0.00	19.30	0.553	6	0.000	0.000	3367	3029	1953
2590	1.98	241.2	226.3	10.1	229	2594	0.00	0.47	0.00	0.000	4	0.000	0.032	3367	2684	1950
2793	1.98	241.2	206.3	10.1	246	2797	0.00	0.55	0.00	0.000	6	0.000	0.035	3367	3054	1948
2872	1.98	241.2	197.9	10.5	253	2879	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	3054	1948
2951	1.98	241.2	190.2	10.3	260	2954	0.00	0.62	0.00	0.000	4	0.000	0.041	3367	3400	1948
3308	1.98	241.2	153.7	10.2	290	3315	0.00	0.57	0.00	0.000	6	0.000	0.027	3367	3044	1945
3382	1.99	251.5	146.5	9.6	297	3394	0.00	0.62	8.02	0.468	4	0.000	0.036	3367	3405	1911
3510	2.02	273.4	135.2	9.1	307	3533	0.00	0.57	18.58	0.515	6	0.000	0.025	3367	3055	1822
3607	2.03	282.9	125.7	9.6	316	3618	0.00	0.00	8.85	0.463	6	0.000	0.000	3367	3054	1783
3681	2.04	287.0	118.5	9.8	323	3694	0.10	0.52	4.47	0.370	4	0.048	0.030	3408	2684	1767
3782	2.04	287.0	107.0	11.0	331	3789	0.00	0.55	0.00	0.000	6	0.000	0.033	3408	3058	1766
3855	2.04	287.0	98.8	11.4	338	3859	0.00	0.57	0.00	0.000	4	0.000	0.038	3408	3395	1765
4003	2.06	306.4	83.6	9.2	350	4024	0.00	0.52	16.80	0.476	6	0.000	0.026	3408	3046	1687
4089	2.09	329.5	75.9	9.1	358	4114	0.00	0.52	19.95	0.474	4	0.000	0.029	3408	2682	1591
4234	2.12	353.2	62.1	9.1	370	4259	0.00	0.55	19.95	0.462	6	0.000	0.032	3408	3058	1496
4324	2.12	353.2	52.5	11.4	378	4328	0.00	0.60	0.00	0.000	4	0.000	0.037	3408	3398	1493
4682	2.12	353.2	12.2	11.8	414	4689	0.00	0.55	0.00	0.000	6	0.000	0.025	3408	3043	1492
4763	end climb: SURFACE_DEPTH_REACHED
state	4763	begin surface coast
4808	end surface coast: CONTROL_FINISHED_OK
state	4808	begin surface