Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 63 * 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 63 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 10 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 50 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 47 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 -87240.844 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 225 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 -87240.844

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 10 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 50 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 225 R_STBD_OVSHOOT 47 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 63 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 163821,2153.779,-15942.980,39,5.7,59,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 400.000

_XMS_NAKs 26 KALMAN_CONTROL 0.302,-0.076

_XMS_TOUTs 0 KALMAN_X -107794.1,974.2,264.4,104454.0,-1696.2

_SM_DEPTHo 0.12 KALMAN_Y 47047.3,-694.4,81.6,-50580.3,413.4

_SM_ANGLEo -61.5 MHEAD_RNG_PITCHd_Wd 94.3,1666,-14.7,-10.000

GPS2 165825,2153.848,-15943.175,12,1.4,17,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.311 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.3,1.022851 MM_CLLLayer 0.03

SM_CCo 4988,0.00,0.000,0,0,1082,454.79 MM_CfgFile 0.30

SM_GC 0.60,12.65,0.00,0.00,0.022,0.000,0.000,420,2531,1082,-11.54,0.88,454.79 _24V_AH 24.0,26.152

IRIDIUM_FIX 2145.77,-15940.77,281098,131337 _10V_AH 10.1,28.162

TT8_MAMPS 0.06136 DATA_FILE_SIZE 12736,434

HUMID 1717 CAP_FILE_SIZE 190281,0

INTERNAL_PRESSURE 10.0527 CFSIZE -70647808,-96600064

TCM_TEMP 24.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 030809,182354,2153.767,-15943.295,35,1.8,45,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 82.34 SBE_CT 292 24 168.27

Roll_motor 14 42 14.66 nil 0 0 0.00

VBD_pump_during_apogee 522 608 7638.30 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 31 103 77.14 nil 0 0 0.00

Iridium_during_connect 39 160 150.12 GUMSTIX 79 1000 1919.90

Iridium_during_xfer 767 223 4105.51

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 90 1000 2179.56

GPS 18 50 9.10

TT8 910 18 165.54

LPSleep 1927 0 7.59

TT8_Active 525 18 95.52

TT8_Sampling 1057 38 405.89

TT8_CF8 1745 44 775.51

TT8_Kalman 33 80 26.95

Analog_circuits 1182 12 143.29

GPS_charging 0 0 0.00

Compass 999 8 80.74

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 -1.74 -219.0 0.0 0.0 0 97 0.00 0.00 -69.80 0.000 2 0.000 0.000 416 2511 3311

104 -1.74 -219.0 3.1 -8.2 10 126 11.18 0.00 -7.53 0.000 6 0.126 0.000 2562 2511 3833

200 -1.74 -219.0 31.0 -19.3 21 204 0.00 0.47 0.00 0.000 4 0.000 0.031 2562 2858 3834

363 -1.74 -219.0 60.1 -17.9 35 367 0.00 0.52 0.00 0.000 6 0.000 0.031 2562 2494 3834

448 -1.74 -219.0 75.1 -18.6 42 452 0.00 0.47 0.00 0.000 4 0.000 0.038 2561 2154 3834

490 -1.74 -219.0 83.4 -16.6 45 497 0.00 0.50 0.00 0.000 6 0.000 0.025 2561 2534 3834

563 -1.74 -219.0 94.1 -14.7 52 567 0.00 0.38 0.00 0.000 4 0.000 0.031 2561 2834 3834

912 -1.74 -219.0 145.7 -14.8 82 919 0.00 0.47 0.00 0.000 6 0.000 0.033 2562 2502 3835

990 -1.74 -219.0 156.1 -14.8 89 994 0.00 0.45 0.00 0.000 4 0.000 0.032 2562 2828 3835

1349 -1.74 -219.0 201.3 -14.3 119 1356 0.00 0.47 0.00 0.000 6 0.000 0.034 2562 2499 3835

1427 -1.74 -219.0 212.5 -14.3 126 1431 0.00 0.47 0.00 0.000 4 0.000 0.032 2562 2836 3835

1785 -1.74 -219.0 258.8 -11.2 156 1792 0.00 0.50 0.00 0.000 6 0.000 0.037 2561 2499 3835

1858 -1.74 -219.0 268.1 -12.1 163 1862 0.00 0.47 0.00 0.000 4 0.000 0.036 2561 2829 3835

1868 end dive: TARGET_DEPTH_EXCEEDED

state 1868 begin apogee

1881 -0.50 0.0 270.1 12.1 164 2053 1.25 0.00 165.15 0.609 6 0.064 0.000 2834 3018 2937

2054 end apogee: CONTROL_FINISHED_OK

state 2054 begin climb

2060 1.74 219.0 278.8 0.0 181 2234 2.15 0.50 163.98 0.606 4 0.039 0.032 3337 2692 2043

2336 1.77 243.3 264.9 9.3 203 2360 0.00 0.52 19.75 0.561 6 0.000 0.036 3338 3045 1945

2426 1.77 243.3 255.3 10.1 211 2429 0.00 0.52 0.00 0.000 4 0.000 0.042 3337 3378 1943

2785 1.85 307.7 224.1 8.0 241 2845 0.00 0.52 51.40 0.578 6 0.000 0.028 3337 3015 1683

2914 1.85 307.7 211.6 11.1 252 2918 0.00 0.57 0.00 0.000 4 0.000 0.040 3337 3377 1678

3106 1.85 307.7 189.5 12.1 268 3113 0.00 0.45 0.00 0.000 6 0.000 0.029 3337 3059 1675

3179 1.85 307.7 181.3 11.5 275 3185 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 3059 1674

3257 1.85 307.7 173.0 11.3 282 3261 0.00 0.52 0.00 0.000 4 0.000 0.039 3337 3382 1674

3402 1.89 341.8 159.0 9.0 294 3438 0.00 0.47 28.05 0.539 6 0.000 0.028 3337 3050 1542

3504 1.89 342.5 148.6 10.0 303 3508 0.00 0.45 0.00 0.000 4 0.000 0.031 3337 2718 1539

3603 1.91 357.0 138.5 9.6 311 3623 0.05 0.50 13.40 0.498 6 0.042 0.034 3374 3060 1480

3689 1.91 357.0 130.0 10.5 319 3695 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 3060 1478

3768 1.91 357.0 121.1 12.2 326 3775 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 3061 1477

3846 1.91 357.0 111.5 12.3 333 3853 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 3060 1476

3925 1.91 357.0 102.4 11.4 340 3931 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 3060 1476

4004 1.91 357.0 93.6 10.5 347 4010 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 3061 1475

4082 1.91 357.0 85.4 10.3 354 4086 0.00 0.50 0.00 0.000 4 0.000 0.038 3374 3383 1475

4216 1.91 359.1 71.4 9.9 365 4220 0.00 0.47 0.00 0.000 6 0.000 0.027 3374 3050 1475

4295 1.97 406.1 63.8 8.6 372 4340 0.00 0.57 41.10 0.477 4 0.000 0.035 3374 3384 1280

4421 2.02 441.8 53.6 8.9 382 4457 0.00 0.47 29.85 0.459 6 0.000 0.026 3374 3050 1135

4523 2.02 441.8 43.4 10.7 391 4527 0.00 0.43 0.00 0.000 4 0.000 0.030 3374 2721 1133

4622 2.03 452.9 32.4 9.7 399 4635 0.00 0.47 9.93 0.403 6 0.000 0.031 3374 3054 1090

4702 2.03 452.9 23.7 11.6 406 4709 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 3054 1088

4781 2.03 452.9 14.2 12.6 416 4787 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 3054 1087

4861 end climb: SURFACE_DEPTH_REACHED

state 4861 begin surface coast

4889 end surface coast: CONTROL_FINISHED_OK

state 4889 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	63	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	10	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	50	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	47	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	-87240.844	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	225	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	163821,2153.779,-15942.980,39,5.7,59,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	400.000
_XMS_NAKs	26	KALMAN_CONTROL	0.302,-0.076
_XMS_TOUTs	0	KALMAN_X	-107794.1,974.2,264.4,104454.0,-1696.2
_SM_DEPTHo	0.12	KALMAN_Y	47047.3,-694.4,81.6,-50580.3,413.4
_SM_ANGLEo	-61.5	MHEAD_RNG_PITCHd_Wd	94.3,1666,-14.7,-10.000
GPS2	165825,2153.848,-15943.175,12,1.4,17,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.311	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.3,1.022851	MM_CLLLayer	0.03
SM_CCo	4988,0.00,0.000,0,0,1082,454.79	MM_CfgFile	0.30
SM_GC	0.60,12.65,0.00,0.00,0.022,0.000,0.000,420,2531,1082,-11.54,0.88,454.79	_24V_AH	24.0,26.152
IRIDIUM_FIX	2145.77,-15940.77,281098,131337	_10V_AH	10.1,28.162
TT8_MAMPS	0.06136	DATA_FILE_SIZE	12736,434
HUMID	1717	CAP_FILE_SIZE	190281,0
INTERNAL_PRESSURE	10.0527	CFSIZE	-70647808,-96600064
TCM_TEMP	24.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	030809,182354,2153.767,-15943.295,35,1.8,45,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	82.34	SBE_CT	292	24	168.27
Roll_motor	14	42	14.66	nil	0	0	0.00
VBD_pump_during_apogee	522	608	7638.30	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	31	103	77.14	nil	0	0	0.00
Iridium_during_connect	39	160	150.12	GUMSTIX	79	1000	1919.90
Iridium_during_xfer	767	223	4105.51
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	90	1000	2179.56
GPS	18	50	9.10
TT8	910	18	165.54
LPSleep	1927	0	7.59
TT8_Active	525	18	95.52
TT8_Sampling	1057	38	405.89
TT8_CF8	1745	44	775.51
TT8_Kalman	33	80	26.95
Analog_circuits	1182	12	143.29
GPS_charging	0	0	0.00
Compass	999	8	80.74
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	-1.74	-219.0	0.0	0.0	0	97	0.00	0.00	-69.80	0.000	2	0.000	0.000	416	2511	3311
104	-1.74	-219.0	3.1	-8.2	10	126	11.18	0.00	-7.53	0.000	6	0.126	0.000	2562	2511	3833
200	-1.74	-219.0	31.0	-19.3	21	204	0.00	0.47	0.00	0.000	4	0.000	0.031	2562	2858	3834
363	-1.74	-219.0	60.1	-17.9	35	367	0.00	0.52	0.00	0.000	6	0.000	0.031	2562	2494	3834
448	-1.74	-219.0	75.1	-18.6	42	452	0.00	0.47	0.00	0.000	4	0.000	0.038	2561	2154	3834
490	-1.74	-219.0	83.4	-16.6	45	497	0.00	0.50	0.00	0.000	6	0.000	0.025	2561	2534	3834
563	-1.74	-219.0	94.1	-14.7	52	567	0.00	0.38	0.00	0.000	4	0.000	0.031	2561	2834	3834
912	-1.74	-219.0	145.7	-14.8	82	919	0.00	0.47	0.00	0.000	6	0.000	0.033	2562	2502	3835
990	-1.74	-219.0	156.1	-14.8	89	994	0.00	0.45	0.00	0.000	4	0.000	0.032	2562	2828	3835
1349	-1.74	-219.0	201.3	-14.3	119	1356	0.00	0.47	0.00	0.000	6	0.000	0.034	2562	2499	3835
1427	-1.74	-219.0	212.5	-14.3	126	1431	0.00	0.47	0.00	0.000	4	0.000	0.032	2562	2836	3835
1785	-1.74	-219.0	258.8	-11.2	156	1792	0.00	0.50	0.00	0.000	6	0.000	0.037	2561	2499	3835
1858	-1.74	-219.0	268.1	-12.1	163	1862	0.00	0.47	0.00	0.000	4	0.000	0.036	2561	2829	3835
1868	end dive: TARGET_DEPTH_EXCEEDED
state	1868	begin apogee
1881	-0.50	0.0	270.1	12.1	164	2053	1.25	0.00	165.15	0.609	6	0.064	0.000	2834	3018	2937
2054	end apogee: CONTROL_FINISHED_OK
state	2054	begin climb
2060	1.74	219.0	278.8	0.0	181	2234	2.15	0.50	163.98	0.606	4	0.039	0.032	3337	2692	2043
2336	1.77	243.3	264.9	9.3	203	2360	0.00	0.52	19.75	0.561	6	0.000	0.036	3338	3045	1945
2426	1.77	243.3	255.3	10.1	211	2429	0.00	0.52	0.00	0.000	4	0.000	0.042	3337	3378	1943
2785	1.85	307.7	224.1	8.0	241	2845	0.00	0.52	51.40	0.578	6	0.000	0.028	3337	3015	1683
2914	1.85	307.7	211.6	11.1	252	2918	0.00	0.57	0.00	0.000	4	0.000	0.040	3337	3377	1678
3106	1.85	307.7	189.5	12.1	268	3113	0.00	0.45	0.00	0.000	6	0.000	0.029	3337	3059	1675
3179	1.85	307.7	181.3	11.5	275	3185	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	3059	1674
3257	1.85	307.7	173.0	11.3	282	3261	0.00	0.52	0.00	0.000	4	0.000	0.039	3337	3382	1674
3402	1.89	341.8	159.0	9.0	294	3438	0.00	0.47	28.05	0.539	6	0.000	0.028	3337	3050	1542
3504	1.89	342.5	148.6	10.0	303	3508	0.00	0.45	0.00	0.000	4	0.000	0.031	3337	2718	1539
3603	1.91	357.0	138.5	9.6	311	3623	0.05	0.50	13.40	0.498	6	0.042	0.034	3374	3060	1480
3689	1.91	357.0	130.0	10.5	319	3695	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	3060	1478
3768	1.91	357.0	121.1	12.2	326	3775	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	3061	1477
3846	1.91	357.0	111.5	12.3	333	3853	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	3060	1476
3925	1.91	357.0	102.4	11.4	340	3931	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	3060	1476
4004	1.91	357.0	93.6	10.5	347	4010	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	3061	1475
4082	1.91	357.0	85.4	10.3	354	4086	0.00	0.50	0.00	0.000	4	0.000	0.038	3374	3383	1475
4216	1.91	359.1	71.4	9.9	365	4220	0.00	0.47	0.00	0.000	6	0.000	0.027	3374	3050	1475
4295	1.97	406.1	63.8	8.6	372	4340	0.00	0.57	41.10	0.477	4	0.000	0.035	3374	3384	1280
4421	2.02	441.8	53.6	8.9	382	4457	0.00	0.47	29.85	0.459	6	0.000	0.026	3374	3050	1135
4523	2.02	441.8	43.4	10.7	391	4527	0.00	0.43	0.00	0.000	4	0.000	0.030	3374	2721	1133
4622	2.03	452.9	32.4	9.7	399	4635	0.00	0.47	9.93	0.403	6	0.000	0.031	3374	3054	1090
4702	2.03	452.9	23.7	11.6	406	4709	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	3054	1088
4781	2.03	452.9	14.2	12.6	416	4787	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	3054	1087
4861	end climb: SURFACE_DEPTH_REACHED
state	4861	begin surface coast
4889	end surface coast: CONTROL_FINISHED_OK
state	4889	begin surface