Glider dive log

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 64 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 48 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 -87257.414 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 -87257.414

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 34 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 225 R_STBD_OVSHOOT 48 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 64 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 182354,2153.767,-15943.295,35,1.8,45,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 3 TGT_RADIUS 400.000

_XMS_NAKs 12 KALMAN_CONTROL 0.305,-0.063

_XMS_TOUTs 0 KALMAN_X -109671.2,670.7,74.2,106037.9,-1786.5

_SM_DEPTHo 0.47 KALMAN_Y 47393.9,-726.5,68.2,-50997.2,341.9

_SM_ANGLEo -60.1 MHEAD_RNG_PITCHd_Wd 91.9,2464,-14.7,-10.000

GPS2 184807,2153.786,-15943.641,10,1.8,15,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.311 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.3,0.999406 MM_CLLLayer 0.03

SM_CCo 4996,0.00,0.000,0,0,1096,451.60 MM_CfgFile 0.30

SM_GC 0.87,12.57,0.00,0.00,0.021,0.000,0.000,418,2512,1096,-11.54,0.34,451.60 _24V_AH 24.1,26.319

IRIDIUM_FIX 2145.77,-15940.77,281098,181808 _10V_AH 10.1,28.237

TT8_MAMPS 0.070564 DATA_FILE_SIZE 12721,441

HUMID 1708 CAP_FILE_SIZE 192608,0

INTERNAL_PRESSURE 10.0722 CFSIZE -70647808,-96862208

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 030809,201328,2153.788,-15943.856,9,99.0,28,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 125 81.65 SBE_CT 296 24 171.41

Roll_motor 10 42 10.85 nil 0 0 0.00

VBD_pump_during_apogee 517 605 7545.98 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 73 103 181.97 nil 0 0 0.00

Iridium_during_connect 86 160 333.97 GUMSTIX 79 1000 1905.78

Iridium_during_xfer 964 223 5182.42

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 69 1000 1673.38

GPS 15 50 8.05

TT8 899 18 163.60

LPSleep 2022 0 7.97

TT8_Active 547 18 99.46

TT8_Sampling 996 38 382.39

TT8_CF8 1976 44 878.45

TT8_Kalman 33 80 26.94

Analog_circuits 1190 12 144.25

GPS_charging 0 0 0.00

Compass 954 8 77.14

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

25 -1.74 -219.0 0.0 0.0 0 111 0.00 0.00 -82.85 0.000 2 0.000 0.000 420 2530 3459

117 -1.74 -219.0 3.8 -8.8 12 139 11.12 0.00 -5.28 0.000 6 0.125 0.000 2564 2530 3832

207 -1.74 -219.0 31.5 -19.4 22 211 0.00 0.45 0.00 0.000 4 0.000 0.031 2564 2861 3833

341 -1.74 -219.0 55.2 -17.9 33 345 0.00 0.55 0.00 0.000 6 0.000 0.031 2564 2479 3833

420 -1.74 -219.0 69.3 -17.1 40 426 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2479 3833

498 -1.74 -219.0 81.5 -16.4 47 504 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2479 3834

576 -1.74 -219.0 94.1 -16.4 54 580 0.00 0.52 0.00 0.000 4 0.000 0.030 2564 2860 3834

793 -1.74 -219.0 125.2 -14.4 72 800 0.00 0.52 0.00 0.000 6 0.000 0.033 2564 2497 3834

867 -1.74 -219.0 136.7 -15.1 79 873 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2497 3834

945 -1.74 -219.0 147.1 -14.2 86 951 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2497 3834

1025 -1.74 -219.0 158.5 -14.5 93 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2497 3834

1103 -1.74 -219.0 170.2 -14.7 100 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2497 3834

1181 -1.74 -219.0 181.1 -13.5 107 1185 0.00 0.50 0.00 0.000 4 0.000 0.032 2564 2860 3834

1540 -1.74 -219.0 227.5 -13.3 137 1547 0.00 0.52 0.00 0.000 6 0.000 0.035 2563 2502 3834

1613 -1.74 -219.0 237.8 -12.9 144 1617 0.00 0.50 0.00 0.000 4 0.000 0.035 2564 2856 3834

1880 end dive: TARGET_DEPTH_EXCEEDED

state 1880 begin apogee

1893 -0.50 0.0 270.3 11.2 167 2065 1.23 0.00 164.40 0.605 6 0.062 0.000 2834 3060 2937

2066 end apogee: CONTROL_FINISHED_OK

state 2066 begin climb

2072 1.74 219.0 278.1 0.0 184 2246 2.12 0.55 163.62 0.601 4 0.039 0.031 3331 2696 2043

2596 1.74 219.0 238.1 10.2 228 2600 0.00 0.52 0.00 0.000 6 0.000 0.038 3330 3050 2039

2675 1.74 219.0 229.8 10.3 235 2678 0.00 0.50 0.00 0.000 4 0.000 0.032 3331 2695 2039

2921 1.82 281.5 207.1 8.1 256 2973 0.00 0.52 48.38 0.569 6 0.000 0.037 3331 3050 1789

3046 1.84 298.5 196.6 9.5 266 3064 0.00 0.55 14.45 0.523 4 0.000 0.042 3331 3380 1720

3369 1.87 325.7 163.4 9.2 293 3398 0.05 0.50 22.70 0.532 6 0.041 0.028 3366 3037 1609

3472 1.87 325.7 152.2 11.5 302 3475 0.00 0.45 0.00 0.000 4 0.000 0.032 3367 2707 1605

3544 1.87 325.7 143.9 11.6 308 3548 0.00 0.50 0.00 0.000 6 0.000 0.035 3366 3050 1604

3623 1.87 325.7 134.9 11.3 315 3629 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 3050 1603

3701 1.87 325.7 126.6 11.4 322 3708 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 3051 1603

3779 1.87 325.7 117.8 11.3 329 3786 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 3050 1603

3859 1.87 325.7 108.7 11.4 336 3865 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 3050 1602

3937 1.87 325.7 100.1 10.6 343 3944 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 3050 1602

4016 1.89 336.8 92.4 9.7 350 4032 0.00 0.00 9.62 0.449 6 0.000 0.000 3366 3050 1562

4099 1.93 369.0 84.3 9.0 358 4129 0.00 0.00 27.83 0.489 6 0.000 0.000 3366 3050 1432

4192 1.93 369.0 74.3 11.8 367 4196 0.00 0.47 0.00 0.000 4 0.000 0.031 3366 2706 1428

4265 1.93 369.0 66.0 11.1 373 4269 0.00 0.50 0.00 0.000 6 0.000 0.034 3366 3053 1427

4344 1.93 369.0 57.0 11.4 380 4348 0.00 0.50 0.00 0.000 4 0.000 0.038 3366 3380 1427

4397 1.93 369.0 51.1 11.1 384 4404 0.00 0.47 0.00 0.000 6 0.000 0.027 3366 3046 1427

4470 1.93 369.6 44.0 10.0 391 4477 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 3046 1426

4549 1.98 408.9 37.2 8.8 398 4586 0.00 0.00 33.03 0.452 6 0.000 0.000 3367 3046 1269

4653 1.98 408.9 26.8 10.1 408 4659 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 3047 1266

4732 2.03 449.4 20.2 8.8 415 4771 0.00 0.00 33.38 0.433 6 0.000 0.000 3366 3046 1104

4848 2.03 449.4 6.5 10.4 432 4855 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 3046 1101

4865 end climb: SURFACE_DEPTH_REACHED

state 4865 begin surface coast

4903 end surface coast: CONTROL_FINISHED_OK

state 4903 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	64	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	48	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	-87257.414	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	182354,2153.767,-15943.295,35,1.8,45,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	3	TGT_RADIUS	400.000
_XMS_NAKs	12	KALMAN_CONTROL	0.305,-0.063
_XMS_TOUTs	0	KALMAN_X	-109671.2,670.7,74.2,106037.9,-1786.5
_SM_DEPTHo	0.47	KALMAN_Y	47393.9,-726.5,68.2,-50997.2,341.9
_SM_ANGLEo	-60.1	MHEAD_RNG_PITCHd_Wd	91.9,2464,-14.7,-10.000
GPS2	184807,2153.786,-15943.641,10,1.8,15,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.311	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.3,0.999406	MM_CLLLayer	0.03
SM_CCo	4996,0.00,0.000,0,0,1096,451.60	MM_CfgFile	0.30
SM_GC	0.87,12.57,0.00,0.00,0.021,0.000,0.000,418,2512,1096,-11.54,0.34,451.60	_24V_AH	24.1,26.319
IRIDIUM_FIX	2145.77,-15940.77,281098,181808	_10V_AH	10.1,28.237
TT8_MAMPS	0.070564	DATA_FILE_SIZE	12721,441
HUMID	1708	CAP_FILE_SIZE	192608,0
INTERNAL_PRESSURE	10.0722	CFSIZE	-70647808,-96862208
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	030809,201328,2153.788,-15943.856,9,99.0,28,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	125	81.65	SBE_CT	296	24	171.41
Roll_motor	10	42	10.85	nil	0	0	0.00
VBD_pump_during_apogee	517	605	7545.98	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	73	103	181.97	nil	0	0	0.00
Iridium_during_connect	86	160	333.97	GUMSTIX	79	1000	1905.78
Iridium_during_xfer	964	223	5182.42
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	69	1000	1673.38
GPS	15	50	8.05
TT8	899	18	163.60
LPSleep	2022	0	7.97
TT8_Active	547	18	99.46
TT8_Sampling	996	38	382.39
TT8_CF8	1976	44	878.45
TT8_Kalman	33	80	26.94
Analog_circuits	1190	12	144.25
GPS_charging	0	0	0.00
Compass	954	8	77.14
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
25	-1.74	-219.0	0.0	0.0	0	111	0.00	0.00	-82.85	0.000	2	0.000	0.000	420	2530	3459
117	-1.74	-219.0	3.8	-8.8	12	139	11.12	0.00	-5.28	0.000	6	0.125	0.000	2564	2530	3832
207	-1.74	-219.0	31.5	-19.4	22	211	0.00	0.45	0.00	0.000	4	0.000	0.031	2564	2861	3833
341	-1.74	-219.0	55.2	-17.9	33	345	0.00	0.55	0.00	0.000	6	0.000	0.031	2564	2479	3833
420	-1.74	-219.0	69.3	-17.1	40	426	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2479	3833
498	-1.74	-219.0	81.5	-16.4	47	504	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2479	3834
576	-1.74	-219.0	94.1	-16.4	54	580	0.00	0.52	0.00	0.000	4	0.000	0.030	2564	2860	3834
793	-1.74	-219.0	125.2	-14.4	72	800	0.00	0.52	0.00	0.000	6	0.000	0.033	2564	2497	3834
867	-1.74	-219.0	136.7	-15.1	79	873	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2497	3834
945	-1.74	-219.0	147.1	-14.2	86	951	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2497	3834
1025	-1.74	-219.0	158.5	-14.5	93	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2497	3834
1103	-1.74	-219.0	170.2	-14.7	100	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2497	3834
1181	-1.74	-219.0	181.1	-13.5	107	1185	0.00	0.50	0.00	0.000	4	0.000	0.032	2564	2860	3834
1540	-1.74	-219.0	227.5	-13.3	137	1547	0.00	0.52	0.00	0.000	6	0.000	0.035	2563	2502	3834
1613	-1.74	-219.0	237.8	-12.9	144	1617	0.00	0.50	0.00	0.000	4	0.000	0.035	2564	2856	3834
1880	end dive: TARGET_DEPTH_EXCEEDED
state	1880	begin apogee
1893	-0.50	0.0	270.3	11.2	167	2065	1.23	0.00	164.40	0.605	6	0.062	0.000	2834	3060	2937
2066	end apogee: CONTROL_FINISHED_OK
state	2066	begin climb
2072	1.74	219.0	278.1	0.0	184	2246	2.12	0.55	163.62	0.601	4	0.039	0.031	3331	2696	2043
2596	1.74	219.0	238.1	10.2	228	2600	0.00	0.52	0.00	0.000	6	0.000	0.038	3330	3050	2039
2675	1.74	219.0	229.8	10.3	235	2678	0.00	0.50	0.00	0.000	4	0.000	0.032	3331	2695	2039
2921	1.82	281.5	207.1	8.1	256	2973	0.00	0.52	48.38	0.569	6	0.000	0.037	3331	3050	1789
3046	1.84	298.5	196.6	9.5	266	3064	0.00	0.55	14.45	0.523	4	0.000	0.042	3331	3380	1720
3369	1.87	325.7	163.4	9.2	293	3398	0.05	0.50	22.70	0.532	6	0.041	0.028	3366	3037	1609
3472	1.87	325.7	152.2	11.5	302	3475	0.00	0.45	0.00	0.000	4	0.000	0.032	3367	2707	1605
3544	1.87	325.7	143.9	11.6	308	3548	0.00	0.50	0.00	0.000	6	0.000	0.035	3366	3050	1604
3623	1.87	325.7	134.9	11.3	315	3629	0.00	0.00	0.00	0.000	6	0.000	0.000	3366	3050	1603
3701	1.87	325.7	126.6	11.4	322	3708	0.00	0.00	0.00	0.000	6	0.000	0.000	3366	3051	1603
3779	1.87	325.7	117.8	11.3	329	3786	0.00	0.00	0.00	0.000	6	0.000	0.000	3366	3050	1603
3859	1.87	325.7	108.7	11.4	336	3865	0.00	0.00	0.00	0.000	6	0.000	0.000	3366	3050	1602
3937	1.87	325.7	100.1	10.6	343	3944	0.00	0.00	0.00	0.000	6	0.000	0.000	3366	3050	1602
4016	1.89	336.8	92.4	9.7	350	4032	0.00	0.00	9.62	0.449	6	0.000	0.000	3366	3050	1562
4099	1.93	369.0	84.3	9.0	358	4129	0.00	0.00	27.83	0.489	6	0.000	0.000	3366	3050	1432
4192	1.93	369.0	74.3	11.8	367	4196	0.00	0.47	0.00	0.000	4	0.000	0.031	3366	2706	1428
4265	1.93	369.0	66.0	11.1	373	4269	0.00	0.50	0.00	0.000	6	0.000	0.034	3366	3053	1427
4344	1.93	369.0	57.0	11.4	380	4348	0.00	0.50	0.00	0.000	4	0.000	0.038	3366	3380	1427
4397	1.93	369.0	51.1	11.1	384	4404	0.00	0.47	0.00	0.000	6	0.000	0.027	3366	3046	1427
4470	1.93	369.6	44.0	10.0	391	4477	0.00	0.00	0.00	0.000	6	0.000	0.000	3366	3046	1426
4549	1.98	408.9	37.2	8.8	398	4586	0.00	0.00	33.03	0.452	6	0.000	0.000	3367	3046	1269
4653	1.98	408.9	26.8	10.1	408	4659	0.00	0.00	0.00	0.000	6	0.000	0.000	3366	3047	1266
4732	2.03	449.4	20.2	8.8	415	4771	0.00	0.00	33.38	0.433	6	0.000	0.000	3366	3046	1104
4848	2.03	449.4	6.5	10.4	432	4855	0.00	0.00	0.00	0.000	6	0.000	0.000	3366	3046	1101
4865	end climb: SURFACE_DEPTH_REACHED
state	4865	begin surface coast
4903	end surface coast: CONTROL_FINISHED_OK
state	4903	begin surface