Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 60 * 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 60 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 660 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 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 220 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 275 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 -87156.875 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 660 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 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 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -87156.875

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 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 34 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 175 R_STBD_OVSHOOT 45 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 60 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 053401,2153.902,-15944.387,38,1.9,38,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 9 KALMAN_CONTROL 0.278,-0.016

_XMS_TOUTs 0 KALMAN_X -97271.3,-1069.4,54.7,93724.1,-2766.8

_SM_DEPTHo 0.99 KALMAN_Y 43489.4,806.5,291.5,-48494.7,132.3

_SM_ANGLEo -60.6 MHEAD_RNG_PITCHd_Wd 83.5,4149,-16.8,-10.000

GPS2 054558,2153.977,-15944.612,18,99.0,37,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.1,1.023111 MM_CLLLayer 0.03

SM_CCo 11815,7.28,0.369,0,0,1306,400.08 MM_CfgFile 0.30

SM_GC 0.56,0.00,0.00,7.28,0.000,0.000,0.369,419,2523,1306,-11.62,0.65,400.08 _24V_AH 23.9,25.478

IRIDIUM_FIX 2145.77,-15942.95,281098,040445 _10V_AH 10.1,27.787

TT8_MAMPS 0.067496 DATA_FILE_SIZE 34650,1044

HUMID 1849 CAP_FILE_SIZE 398935,0

INTERNAL_PRESSURE 10.0331 CFSIZE -70647808,-95682560

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

MM_GliderControlLayer 0.41 GPS 030809,090536,2154.204,-15943.671,46,2.0,52,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 82.24 SBE_CT 725 24 415.92

Roll_motor 34 84 68.61 nil 0 0 0.00

VBD_pump_during_apogee 452 961 10399.84 nil 0 0 0.00

VBD_pump_during_surface 7 368 64.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 74.07 nil 0 0 0.00

Iridium_during_connect 24 160 95.08 GUMSTIX 190 1000 4548.74

Iridium_during_xfer 391 223 2086.51

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 304 1000 7273.99

GPS 38 50 19.41

TT8 2207 18 401.37

LPSleep 5290 0 20.84

TT8_Active 554 18 100.82

TT8_Sampling 2411 38 925.48

TT8_CF8 2077 44 923.27

TT8_Kalman 33 80 26.94

Analog_circuits 1832 12 222.12

GPS_charging 0 0 0.00

Compass 2312 8 186.89

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

20 -1.89 -170.3 0.0 0.0 0 93 0.00 0.00 -69.80 0.000 2 0.000 0.000 414 2523 3275

99 -1.89 -170.3 3.7 -7.9 10 122 10.95 0.55 -5.38 0.000 4 0.125 0.084 2529 2903 3635

470 -1.89 -170.3 82.4 -15.9 45 474 0.00 0.60 0.00 0.000 6 0.000 0.031 2529 2488 3636

549 -1.89 -170.3 94.5 -15.6 52 552 0.00 0.57 0.00 0.000 4 0.000 0.030 2529 2897 3637

762 -1.89 -170.3 128.1 -13.8 70 766 0.00 0.57 0.00 0.000 6 0.000 0.031 2529 2497 3638

841 -1.89 -170.3 138.8 -12.7 77 844 0.00 0.57 0.00 0.000 4 0.000 0.031 2529 2905 3638

1065 -1.89 -170.3 168.5 -12.3 96 1069 0.00 0.60 0.00 0.000 6 0.000 0.032 2530 2496 3638

1144 -1.89 -170.3 178.8 -12.3 103 1148 0.00 0.57 0.00 0.000 4 0.000 0.032 2529 2900 3638

1471 -1.89 -170.3 222.3 -15.0 131 1474 0.00 0.57 0.00 0.000 6 0.000 0.034 2529 2503 3638

1550 -1.89 -170.3 233.2 -13.6 138 1556 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2503 3638

1628 -1.89 -170.3 243.0 -13.2 145 1634 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2503 3638

1706 -1.89 -170.3 252.9 -12.4 152 1712 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2503 3638

1786 -1.89 -170.3 262.3 -12.0 159 1792 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2503 3638

1864 -1.89 -170.3 272.1 -12.3 166 1870 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2503 3638

1942 -1.89 -170.3 281.7 -12.1 173 1946 0.00 0.57 0.00 0.000 4 0.000 0.036 2529 2898 3638

2133 -1.89 -170.3 305.3 -12.3 189 2140 0.00 0.60 0.00 0.000 6 0.000 0.038 2529 2499 3637

2340 -1.89 -170.3 329.3 -12.0 208 2343 0.00 0.57 0.00 0.000 4 0.000 0.038 2530 2894 3636

2562 -1.89 -170.3 355.1 -11.6 227 2566 0.00 0.60 0.00 0.000 6 0.000 0.041 2529 2499 3633

2775 -1.89 -170.3 380.2 -12.6 246 2781 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2498 3631

2976 -1.89 -170.3 406.6 -12.7 265 2979 0.00 0.57 0.00 0.000 4 0.000 0.040 2530 2884 3629

3122 -1.89 -170.3 425.9 -12.8 277 3129 0.00 0.60 0.00 0.000 6 0.000 0.042 2530 2497 3628

3329 -1.89 -170.3 450.4 -11.8 296 3335 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2497 3626

3530 -1.89 -170.3 474.8 -11.8 315 3533 0.00 0.57 0.00 0.000 4 0.000 0.041 2529 2880 3624

3887 -1.89 -170.3 516.4 -12.3 345 3894 0.00 0.60 0.00 0.000 6 0.000 0.044 2530 2495 3621

4094 -1.89 -170.3 540.3 -11.1 364 4098 0.00 0.60 0.00 0.000 4 0.000 0.043 2529 2888 3619

4453 -1.89 -170.3 580.1 -9.9 394 4459 0.00 0.60 0.00 0.000 6 0.000 0.046 2529 2503 3615

4653 -1.89 -170.3 604.4 -11.7 413 4657 0.00 0.57 0.00 0.000 4 0.000 0.047 2529 2878 3614

5011 -1.89 -170.3 647.8 -11.4 443 5018 0.00 0.60 0.00 0.000 6 0.000 0.055 2529 2510 3612

5111 end dive: TARGET_DEPTH_EXCEEDED

state 5111 begin apogee

5124 -0.50 0.0 660.4 11.5 453 5269 1.40 0.00 130.68 0.961 6 0.069 0.000 2831 3040 2936

5270 end apogee: CONTROL_FINISHED_OK

state 5270 begin climb

5275 1.89 170.3 667.0 0.0 467 5425 2.33 0.65 134.93 0.937 4 0.042 0.050 3369 2660 2242

5779 1.89 170.3 629.5 10.5 509 5783 0.00 0.62 0.00 0.000 6 0.000 0.051 3368 3049 2237

5992 1.90 174.4 608.9 9.8 528 6004 0.00 0.65 3.92 0.555 4 0.000 0.045 3368 2656 2226

6206 1.94 205.1 587.7 8.8 546 6236 0.00 0.62 26.12 0.881 6 0.000 0.048 3368 3049 2100

6431 1.94 206.8 565.2 9.9 566 6435 0.00 0.77 0.00 0.000 4 0.000 0.056 3368 3419 2096

6446 1.95 216.4 563.7 9.6 567 6460 0.00 0.75 10.27 0.788 6 0.000 0.036 3368 3027 2054

6659 1.97 233.7 544.4 9.3 586 6682 0.00 0.85 15.05 0.826 4 0.000 0.052 3368 3420 1984

6920 1.97 233.7 515.4 11.7 608 6927 0.00 0.73 0.00 0.000 6 0.000 0.035 3368 3043 1981

7127 1.97 233.7 493.0 11.4 627 7131 0.00 0.75 0.00 0.000 4 0.000 0.051 3368 3414 1980

7398 1.97 233.7 461.1 11.1 650 7405 0.00 0.68 0.00 0.000 6 0.000 0.034 3368 3047 1979

7599 1.97 233.7 438.1 11.8 669 7603 0.00 0.75 0.00 0.000 4 0.000 0.051 3368 3416 1979

7733 1.97 233.7 423.4 11.9 680 7736 0.00 0.68 0.00 0.000 6 0.000 0.034 3368 3045 1979

7944 1.97 233.7 400.2 10.7 699 7948 0.00 0.52 0.00 0.000 4 0.000 0.041 3367 2680 1979

8001 1.97 233.7 393.5 11.9 703 8008 0.00 0.57 0.00 0.000 6 0.000 0.042 3368 3053 1979

8208 1.97 233.7 369.7 12.2 722 8212 0.00 0.65 0.00 0.000 4 0.000 0.050 3368 3404 1978

8427 1.97 233.7 342.0 11.5 740 8434 0.00 0.60 0.00 0.000 6 0.000 0.033 3368 3049 1978

8634 1.97 233.7 320.5 10.3 759 8638 0.00 0.68 0.00 0.000 4 0.000 0.047 3368 3404 1978

8992 1.99 246.2 282.7 9.5 789 9011 0.00 0.60 10.38 0.667 6 0.000 0.032 3368 3047 1933

9077 1.99 246.2 273.7 10.8 797 9081 0.00 0.68 0.00 0.000 4 0.000 0.044 3368 3404 1932

9322 2.01 262.2 249.8 9.4 818 9340 0.00 0.60 14.48 0.668 6 0.000 0.031 3368 3043 1867

9407 2.01 264.3 241.8 9.9 825 9414 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 3043 1865

9487 2.01 264.3 234.1 10.3 832 9491 0.00 0.68 0.00 0.000 4 0.000 0.044 3368 3404 1865

9802 2.01 264.3 202.7 12.1 859 9806 0.00 0.60 0.00 0.000 6 0.000 0.029 3368 3044 1864

9881 2.01 264.3 194.0 11.2 866 9885 0.00 0.68 0.00 0.000 4 0.000 0.042 3368 3405 1864

10058 2.01 266.1 175.8 9.9 881 10071 0.00 0.60 4.20 0.439 6 0.000 0.028 3368 3041 1852

10137 2.02 271.9 168.1 9.8 888 10149 0.00 0.00 6.80 0.523 6 0.000 0.000 3368 3037 1828

10215 2.02 271.9 160.0 10.4 895 10222 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 3036 1827

10295 2.02 271.9 152.3 10.3 902 10301 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 3037 1827

10373 2.04 285.6 144.7 9.5 909 10390 0.00 0.68 12.85 0.564 4 0.000 0.038 3368 3414 1771

10576 2.05 294.8 123.7 9.6 926 10588 0.05 0.62 8.52 0.508 6 0.041 0.026 3400 3046 1735

10656 2.05 294.8 116.0 10.1 933 10663 0.00 0.00 0.00 0.000 6 0.000 0.000 3399 3046 1733

10736 2.05 294.8 108.4 10.9 940 10742 0.00 0.00 0.00 0.000 6 0.000 0.000 3400 3043 1733

10814 2.05 294.8 99.4 11.9 947 10821 0.00 0.00 0.00 0.000 6 0.000 0.000 3400 3042 1733

10892 2.05 294.8 89.7 12.7 954 10896 0.00 0.68 0.00 0.000 4 0.000 0.039 3400 3405 1733

10993 2.05 294.8 76.2 11.5 962 11000 0.00 0.57 0.00 0.000 6 0.000 0.027 3400 3054 1733

11066 2.05 294.8 68.1 11.3 969 11069 0.00 0.50 0.00 0.000 4 0.000 0.030 3400 2685 1733

11416 2.10 338.1 35.0 8.3 999 11459 0.00 0.55 36.70 0.485 6 0.000 0.031 3400 3064 1557

11527 2.10 338.1 24.4 10.7 1009 11534 0.00 0.00 0.00 0.000 6 0.000 0.000 3400 3064 1554

11605 2.16 383.6 17.6 8.2 1018 11652 0.00 0.60 37.88 0.461 4 0.000 0.036 3400 3398 1373

11710 2.16 384.6 6.6 10.0 1033 11717 0.00 0.55 0.00 0.000 6 0.000 0.025 3399 3035 1369

11733 end climb: SURFACE_DEPTH_REACHED

state 11733 begin surface coast

11777 end surface coast: CONTROL_FINISHED_OK

state 11777 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	60	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	660	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	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	220	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	275	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	-87156.875	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	053401,2153.902,-15944.387,38,1.9,38,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	9	KALMAN_CONTROL	0.278,-0.016
_XMS_TOUTs	0	KALMAN_X	-97271.3,-1069.4,54.7,93724.1,-2766.8
_SM_DEPTHo	0.99	KALMAN_Y	43489.4,806.5,291.5,-48494.7,132.3
_SM_ANGLEo	-60.6	MHEAD_RNG_PITCHd_Wd	83.5,4149,-16.8,-10.000
GPS2	054558,2153.977,-15944.612,18,99.0,37,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.1,1.023111	MM_CLLLayer	0.03
SM_CCo	11815,7.28,0.369,0,0,1306,400.08	MM_CfgFile	0.30
SM_GC	0.56,0.00,0.00,7.28,0.000,0.000,0.369,419,2523,1306,-11.62,0.65,400.08	_24V_AH	23.9,25.478
IRIDIUM_FIX	2145.77,-15942.95,281098,040445	_10V_AH	10.1,27.787
TT8_MAMPS	0.067496	DATA_FILE_SIZE	34650,1044
HUMID	1849	CAP_FILE_SIZE	398935,0
INTERNAL_PRESSURE	10.0331	CFSIZE	-70647808,-95682560
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
MM_GliderControlLayer	0.41	GPS	030809,090536,2154.204,-15943.671,46,2.0,52,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	82.24	SBE_CT	725	24	415.92
Roll_motor	34	84	68.61	nil	0	0	0.00
VBD_pump_during_apogee	452	961	10399.84	nil	0	0	0.00
VBD_pump_during_surface	7	368	64.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	74.07	nil	0	0	0.00
Iridium_during_connect	24	160	95.08	GUMSTIX	190	1000	4548.74
Iridium_during_xfer	391	223	2086.51
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	304	1000	7273.99
GPS	38	50	19.41
TT8	2207	18	401.37
LPSleep	5290	0	20.84
TT8_Active	554	18	100.82
TT8_Sampling	2411	38	925.48
TT8_CF8	2077	44	923.27
TT8_Kalman	33	80	26.94
Analog_circuits	1832	12	222.12
GPS_charging	0	0	0.00
Compass	2312	8	186.89
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
20	-1.89	-170.3	0.0	0.0	0	93	0.00	0.00	-69.80	0.000	2	0.000	0.000	414	2523	3275
99	-1.89	-170.3	3.7	-7.9	10	122	10.95	0.55	-5.38	0.000	4	0.125	0.084	2529	2903	3635
470	-1.89	-170.3	82.4	-15.9	45	474	0.00	0.60	0.00	0.000	6	0.000	0.031	2529	2488	3636
549	-1.89	-170.3	94.5	-15.6	52	552	0.00	0.57	0.00	0.000	4	0.000	0.030	2529	2897	3637
762	-1.89	-170.3	128.1	-13.8	70	766	0.00	0.57	0.00	0.000	6	0.000	0.031	2529	2497	3638
841	-1.89	-170.3	138.8	-12.7	77	844	0.00	0.57	0.00	0.000	4	0.000	0.031	2529	2905	3638
1065	-1.89	-170.3	168.5	-12.3	96	1069	0.00	0.60	0.00	0.000	6	0.000	0.032	2530	2496	3638
1144	-1.89	-170.3	178.8	-12.3	103	1148	0.00	0.57	0.00	0.000	4	0.000	0.032	2529	2900	3638
1471	-1.89	-170.3	222.3	-15.0	131	1474	0.00	0.57	0.00	0.000	6	0.000	0.034	2529	2503	3638
1550	-1.89	-170.3	233.2	-13.6	138	1556	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2503	3638
1628	-1.89	-170.3	243.0	-13.2	145	1634	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2503	3638
1706	-1.89	-170.3	252.9	-12.4	152	1712	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2503	3638
1786	-1.89	-170.3	262.3	-12.0	159	1792	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2503	3638
1864	-1.89	-170.3	272.1	-12.3	166	1870	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2503	3638
1942	-1.89	-170.3	281.7	-12.1	173	1946	0.00	0.57	0.00	0.000	4	0.000	0.036	2529	2898	3638
2133	-1.89	-170.3	305.3	-12.3	189	2140	0.00	0.60	0.00	0.000	6	0.000	0.038	2529	2499	3637
2340	-1.89	-170.3	329.3	-12.0	208	2343	0.00	0.57	0.00	0.000	4	0.000	0.038	2530	2894	3636
2562	-1.89	-170.3	355.1	-11.6	227	2566	0.00	0.60	0.00	0.000	6	0.000	0.041	2529	2499	3633
2775	-1.89	-170.3	380.2	-12.6	246	2781	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2498	3631
2976	-1.89	-170.3	406.6	-12.7	265	2979	0.00	0.57	0.00	0.000	4	0.000	0.040	2530	2884	3629
3122	-1.89	-170.3	425.9	-12.8	277	3129	0.00	0.60	0.00	0.000	6	0.000	0.042	2530	2497	3628
3329	-1.89	-170.3	450.4	-11.8	296	3335	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2497	3626
3530	-1.89	-170.3	474.8	-11.8	315	3533	0.00	0.57	0.00	0.000	4	0.000	0.041	2529	2880	3624
3887	-1.89	-170.3	516.4	-12.3	345	3894	0.00	0.60	0.00	0.000	6	0.000	0.044	2530	2495	3621
4094	-1.89	-170.3	540.3	-11.1	364	4098	0.00	0.60	0.00	0.000	4	0.000	0.043	2529	2888	3619
4453	-1.89	-170.3	580.1	-9.9	394	4459	0.00	0.60	0.00	0.000	6	0.000	0.046	2529	2503	3615
4653	-1.89	-170.3	604.4	-11.7	413	4657	0.00	0.57	0.00	0.000	4	0.000	0.047	2529	2878	3614
5011	-1.89	-170.3	647.8	-11.4	443	5018	0.00	0.60	0.00	0.000	6	0.000	0.055	2529	2510	3612
5111	end dive: TARGET_DEPTH_EXCEEDED
state	5111	begin apogee
5124	-0.50	0.0	660.4	11.5	453	5269	1.40	0.00	130.68	0.961	6	0.069	0.000	2831	3040	2936
5270	end apogee: CONTROL_FINISHED_OK
state	5270	begin climb
5275	1.89	170.3	667.0	0.0	467	5425	2.33	0.65	134.93	0.937	4	0.042	0.050	3369	2660	2242
5779	1.89	170.3	629.5	10.5	509	5783	0.00	0.62	0.00	0.000	6	0.000	0.051	3368	3049	2237
5992	1.90	174.4	608.9	9.8	528	6004	0.00	0.65	3.92	0.555	4	0.000	0.045	3368	2656	2226
6206	1.94	205.1	587.7	8.8	546	6236	0.00	0.62	26.12	0.881	6	0.000	0.048	3368	3049	2100
6431	1.94	206.8	565.2	9.9	566	6435	0.00	0.77	0.00	0.000	4	0.000	0.056	3368	3419	2096
6446	1.95	216.4	563.7	9.6	567	6460	0.00	0.75	10.27	0.788	6	0.000	0.036	3368	3027	2054
6659	1.97	233.7	544.4	9.3	586	6682	0.00	0.85	15.05	0.826	4	0.000	0.052	3368	3420	1984
6920	1.97	233.7	515.4	11.7	608	6927	0.00	0.73	0.00	0.000	6	0.000	0.035	3368	3043	1981
7127	1.97	233.7	493.0	11.4	627	7131	0.00	0.75	0.00	0.000	4	0.000	0.051	3368	3414	1980
7398	1.97	233.7	461.1	11.1	650	7405	0.00	0.68	0.00	0.000	6	0.000	0.034	3368	3047	1979
7599	1.97	233.7	438.1	11.8	669	7603	0.00	0.75	0.00	0.000	4	0.000	0.051	3368	3416	1979
7733	1.97	233.7	423.4	11.9	680	7736	0.00	0.68	0.00	0.000	6	0.000	0.034	3368	3045	1979
7944	1.97	233.7	400.2	10.7	699	7948	0.00	0.52	0.00	0.000	4	0.000	0.041	3367	2680	1979
8001	1.97	233.7	393.5	11.9	703	8008	0.00	0.57	0.00	0.000	6	0.000	0.042	3368	3053	1979
8208	1.97	233.7	369.7	12.2	722	8212	0.00	0.65	0.00	0.000	4	0.000	0.050	3368	3404	1978
8427	1.97	233.7	342.0	11.5	740	8434	0.00	0.60	0.00	0.000	6	0.000	0.033	3368	3049	1978
8634	1.97	233.7	320.5	10.3	759	8638	0.00	0.68	0.00	0.000	4	0.000	0.047	3368	3404	1978
8992	1.99	246.2	282.7	9.5	789	9011	0.00	0.60	10.38	0.667	6	0.000	0.032	3368	3047	1933
9077	1.99	246.2	273.7	10.8	797	9081	0.00	0.68	0.00	0.000	4	0.000	0.044	3368	3404	1932
9322	2.01	262.2	249.8	9.4	818	9340	0.00	0.60	14.48	0.668	6	0.000	0.031	3368	3043	1867
9407	2.01	264.3	241.8	9.9	825	9414	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	3043	1865
9487	2.01	264.3	234.1	10.3	832	9491	0.00	0.68	0.00	0.000	4	0.000	0.044	3368	3404	1865
9802	2.01	264.3	202.7	12.1	859	9806	0.00	0.60	0.00	0.000	6	0.000	0.029	3368	3044	1864
9881	2.01	264.3	194.0	11.2	866	9885	0.00	0.68	0.00	0.000	4	0.000	0.042	3368	3405	1864
10058	2.01	266.1	175.8	9.9	881	10071	0.00	0.60	4.20	0.439	6	0.000	0.028	3368	3041	1852
10137	2.02	271.9	168.1	9.8	888	10149	0.00	0.00	6.80	0.523	6	0.000	0.000	3368	3037	1828
10215	2.02	271.9	160.0	10.4	895	10222	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	3036	1827
10295	2.02	271.9	152.3	10.3	902	10301	0.00	0.00	0.00	0.000	6	0.000	0.000	3368	3037	1827
10373	2.04	285.6	144.7	9.5	909	10390	0.00	0.68	12.85	0.564	4	0.000	0.038	3368	3414	1771
10576	2.05	294.8	123.7	9.6	926	10588	0.05	0.62	8.52	0.508	6	0.041	0.026	3400	3046	1735
10656	2.05	294.8	116.0	10.1	933	10663	0.00	0.00	0.00	0.000	6	0.000	0.000	3399	3046	1733
10736	2.05	294.8	108.4	10.9	940	10742	0.00	0.00	0.00	0.000	6	0.000	0.000	3400	3043	1733
10814	2.05	294.8	99.4	11.9	947	10821	0.00	0.00	0.00	0.000	6	0.000	0.000	3400	3042	1733
10892	2.05	294.8	89.7	12.7	954	10896	0.00	0.68	0.00	0.000	4	0.000	0.039	3400	3405	1733
10993	2.05	294.8	76.2	11.5	962	11000	0.00	0.57	0.00	0.000	6	0.000	0.027	3400	3054	1733
11066	2.05	294.8	68.1	11.3	969	11069	0.00	0.50	0.00	0.000	4	0.000	0.030	3400	2685	1733
11416	2.10	338.1	35.0	8.3	999	11459	0.00	0.55	36.70	0.485	6	0.000	0.031	3400	3064	1557
11527	2.10	338.1	24.4	10.7	1009	11534	0.00	0.00	0.00	0.000	6	0.000	0.000	3400	3064	1554
11605	2.16	383.6	17.6	8.2	1018	11652	0.00	0.60	37.88	0.461	4	0.000	0.036	3400	3398	1373
11710	2.16	384.6	6.6	10.0	1033	11717	0.00	0.55	0.00	0.000	6	0.000	0.025	3399	3035	1369
11733	end climb: SURFACE_DEPTH_REACHED
state	11733	begin surface coast
11777	end surface coast: CONTROL_FINISHED_OK
state	11777	begin surface