Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 71 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 24 ESCAPE_HEADING 180 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 71 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3825 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 1970 ALTIM_FREQUENCY 13

D_TGT 270 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 1994 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 375 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 47 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 746 DEVICE2 -1

T_MISSION 110 CALL_TRIES 5 VBD_MAX 3936 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2917 DEVICE4 -1

T_TURN 225 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 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -107906.65 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 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 250 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 409 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2542 PRESSURE_YINT -7.1530929 SEABIRD_T_G 0.00439469

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163939 SEABIRD_T_H 0.00064900791

MASS 51956 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5454905e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5957725e-06

FERRY_MAX 0 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.918622

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1128848

HD_A 0.0038360001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0018190074

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019276177

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 375

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 PITCH_GAIN 13 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 270 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163939 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1530929 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 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -107906.65

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 110

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 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 117 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3825 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2542 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1994 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1970 MASS 51956 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 47 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 24 SEABIRD_C_G -9.918622 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1128848 VBD_MAX 3936

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00019276177 VBD_MIN 746

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 XPDR_DEVICE -1

DIVE 71 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 194310,2154.650,-15944.423,13,1.3,21,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 2 TGT_RADIUS 750.000

_XMS_NAKs 0 KALMAN_CONTROL 0.298,-0.132

_XMS_TOUTs 0 KALMAN_X -85503.5,336.7,-476.8,84911.9,-1912.0

_SM_DEPTHo 1.17 KALMAN_Y 31609.7,-202.2,150.6,-33454.6,828.4

_SM_ANGLEo -51.7 MHEAD_RNG_PITCHd_Wd 104.1,4666,-13.9,-10.000

GPS2 195713,2154.687,-15944.744,16,1.9,33,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.4,1.003402 MM_CLLLayer 0.03

SM_CCo 4787,0.00,0.000,0,0,733,535.98 MM_CfgFile 0.30

SM_GC 0.96,10.98,0.00,0.00,0.030,0.000,0.000,403,2006,733,-9.77,1.02,535.98 _24V_AH 24.1,17.632

IRIDIUM_FIX 2148.09,-15942.95,291098,191918 _10V_AH 10.1,7.614

TT8_MAMPS 0.075166 DATA_FILE_SIZE 12716,446

HUMID 1951 CAP_FILE_SIZE 94715,0

INTERNAL_PRESSURE 7.58818 CFSIZE 260165632,250847232

TCM_TEMP 24.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 040809,211906,2154.711,-15944.817,38,1.3,41,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 174 104.06 SBE_CT 298 24 172.75

Roll_motor 113 66 182.65 nil 0 0 0.00

VBD_pump_during_apogee 647 687 10726.98 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 47 103 118.42 nil 0 0 0.00

Iridium_during_connect 58 160 223.75 GUMSTIX 233 1000 5638.36

Iridium_during_xfer 488 223 2627.69

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 36 1000 887.84

GPS 33 50 16.70

TT8 889 18 161.76

LPSleep 2241 0 8.83

TT8_Active 745 18 135.52

TT8_Sampling 904 38 347.20

TT8_CF8 858 44 381.68

TT8_Kalman 33 80 26.93

Analog_circuits 1361 12 165.07

GPS_charging 0 0 0.00

Compass 839 8 67.83

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 14 begin dive

16 -1.37 -243.3 0.0 0.0 0 117 0.00 0.00 -96.90 0.000 2 0.000 0.000 400 2005 3360

120 -1.37 -243.3 3.9 -8.5 16 146 10.77 0.00 -9.10 0.000 6 0.174 0.000 2237 2005 3911

214 -1.37 -243.3 26.9 -18.2 29 215 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2006 3911

276 -1.37 -243.3 38.1 -17.5 35 280 0.00 2.55 0.00 0.000 4 0.000 0.055 2237 570 3911

304 -1.37 -243.3 42.8 -16.7 37 308 0.00 2.35 0.00 0.000 6 0.000 0.029 2237 1972 3911

374 -1.37 -243.3 54.0 -15.9 43 375 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1976 3911

437 -1.37 -243.3 65.5 -18.6 49 438 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1976 3911

501 -1.37 -243.3 77.5 -18.0 55 502 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1976 3912

565 -1.37 -243.3 88.0 -16.7 61 566 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1976 3912

630 -1.37 -243.3 98.2 -15.4 67 634 0.00 2.45 0.00 0.000 4 0.000 0.050 2236 3365 3912

651 -1.37 -243.3 101.9 -16.2 68 658 0.00 2.38 0.00 0.000 6 0.000 0.033 2237 1969 3912

721 -1.37 -243.3 113.2 -17.0 75 725 0.00 2.53 0.00 0.000 4 0.000 0.060 2237 563 3912

794 -1.37 -243.3 125.6 -16.8 81 798 0.00 2.38 0.00 0.000 6 0.000 0.030 2237 1979 3912

863 -1.37 -243.3 135.5 -14.1 87 865 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1984 3913

927 -1.37 -243.3 143.6 -12.2 93 932 0.00 2.53 0.00 0.000 4 0.000 0.057 2237 567 3913

980 -1.37 -243.3 149.6 -11.4 97 984 0.00 2.35 0.00 0.000 6 0.000 0.031 2237 1967 3913

1049 -1.37 -243.3 157.9 -11.3 103 1051 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1971 3913

1113 -1.37 -243.3 165.1 -11.7 109 1114 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 1971 3914

1177 -1.37 -243.3 172.3 -11.0 115 1178 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1971 3914

1241 -1.37 -243.3 179.1 -10.8 121 1245 0.00 2.47 0.00 0.000 4 0.000 0.054 2237 3365 3914

1273 -1.37 -243.3 183.0 -10.9 123 1280 0.00 2.40 0.00 0.000 6 0.000 0.036 2237 1962 3913

1343 -1.37 -243.3 191.0 -11.6 130 1348 0.00 2.53 0.00 0.000 4 0.000 0.062 2237 563 3914

1376 -1.37 -243.3 195.0 -12.4 132 1383 0.00 2.38 0.00 0.000 6 0.000 0.032 2238 1969 3914

1446 -1.37 -243.3 203.0 -11.9 139 1450 0.00 2.47 0.00 0.000 4 0.000 0.054 2237 3364 3914

1501 -1.37 -243.3 209.7 -12.4 143 1508 0.00 2.40 0.00 0.000 6 0.000 0.036 2238 1964 3914

1572 -1.37 -243.3 217.5 -11.2 150 1576 0.00 2.50 0.00 0.000 4 0.000 0.054 2237 3366 3914

1600 -1.37 -243.3 221.0 -12.8 152 1604 0.00 2.40 0.00 0.000 6 0.000 0.037 2237 1966 3913

1670 -1.37 -243.3 230.0 -13.1 158 1674 0.00 2.55 0.00 0.000 4 0.000 0.064 2237 563 3913

1725 -1.37 -243.3 237.1 -11.9 162 1732 0.00 2.40 0.00 0.000 6 0.000 0.032 2237 1980 3914

1795 -1.37 -243.3 245.5 -12.0 169 1796 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 1980 3913

1859 -1.37 -243.3 253.0 -11.7 175 1860 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1981 3914

1922 -1.37 -243.3 260.6 -11.8 181 1923 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1980 3913

1986 -1.37 -243.3 268.1 -12.1 187 1987 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 1981 3913

2006 end dive: TARGET_DEPTH_EXCEEDED

state 2006 begin apogee

2011 -0.38 0.0 270.7 12.1 189 2212 1.05 0.00 195.68 0.687 6 0.090 0.000 2453 1982 2917

2213 end apogee: CONTROL_FINISHED_OK

state 2213 begin climb

2216 1.37 243.3 276.5 0.0 209 2423 1.75 2.53 196.57 0.672 4 0.058 0.062 2842 592 1924

2452 1.49 343.6 262.0 7.2 231 2543 0.10 2.42 84.20 0.653 6 0.051 0.035 2886 1997 1516

2609 1.52 367.3 248.6 9.3 245 2636 0.00 2.60 20.98 0.620 4 0.000 0.062 2886 3383 1419

2659 1.55 389.3 243.5 9.4 249 2689 0.00 2.45 20.33 0.617 6 0.000 0.040 2886 1993 1328

2752 1.57 405.1 234.6 9.6 258 2775 0.00 2.65 14.43 0.601 4 0.000 0.067 2886 592 1265

2814 1.59 423.4 228.6 9.5 263 2836 0.00 2.42 17.25 0.614 6 0.000 0.035 2886 1996 1191

2902 1.63 458.4 220.9 9.0 271 2935 0.00 0.00 31.30 0.634 6 0.000 0.000 2886 1997 1048

2995 1.65 470.6 211.7 9.7 280 3012 0.00 2.55 11.68 0.583 4 0.000 0.058 2886 3388 998

3046 1.67 490.6 206.8 9.4 284 3070 0.00 2.45 18.15 0.608 6 0.000 0.040 2886 1992 917

3133 1.74 544.6 199.4 8.5 292 3174 0.15 0.00 37.12 0.631 6 0.041 0.000 2937 1992 746

3237 1.74 544.6 187.1 12.4 302 3241 0.00 2.60 0.00 0.000 4 0.000 0.066 2937 584 742

3257 1.74 544.6 184.3 13.0 303 3265 0.00 2.45 0.00 0.000 6 0.000 0.035 2937 2007 742

3328 1.74 544.6 175.4 13.2 310 3329 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2007 741

3391 1.74 544.6 166.5 14.5 316 3393 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2007 740

3455 1.74 544.6 157.2 14.9 322 3460 0.00 2.60 0.00 0.000 4 0.000 0.061 2937 589 739

3489 1.74 544.6 151.8 15.9 324 3496 0.00 2.40 0.00 0.000 6 0.000 0.033 2937 1994 739

3559 1.74 544.6 140.8 15.8 331 3560 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1994 738

3623 1.74 544.6 130.1 17.0 337 3627 0.00 2.58 0.00 0.000 4 0.000 0.061 2937 589 738

3655 1.74 544.6 124.2 17.8 339 3662 0.00 2.40 0.00 0.000 6 0.000 0.033 2937 1992 738

3727 1.74 544.6 113.0 16.0 346 3731 0.00 2.58 0.00 0.000 4 0.000 0.061 2937 585 737

3767 1.74 544.6 107.3 14.0 349 3771 0.00 2.42 0.00 0.000 6 0.000 0.032 2937 2003 737

3837 1.74 544.6 98.6 11.7 355 3841 0.00 2.50 0.00 0.000 4 0.000 0.059 2937 3389 737

3869 1.74 544.6 95.0 10.7 357 3876 0.00 2.42 0.00 0.000 6 0.000 0.035 2937 1984 737

3941 1.74 544.6 87.9 10.4 364 3945 0.00 2.50 0.00 0.000 4 0.000 0.061 2937 594 736

3973 1.74 544.6 83.7 12.0 366 3980 0.00 2.40 0.00 0.000 6 0.000 0.031 2937 2009 736

4044 1.74 544.6 74.8 13.5 373 4046 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2009 736

4107 1.74 544.6 66.2 13.7 379 4111 0.00 2.58 0.00 0.000 4 0.000 0.058 2937 588 736

4146 1.74 544.6 61.6 11.6 382 4150 0.00 2.38 0.00 0.000 6 0.000 0.030 2937 1995 735

4216 1.74 544.6 54.4 10.3 388 4217 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1996 735

4279 1.74 544.6 47.5 10.4 394 4284 0.00 2.47 0.00 0.000 4 0.000 0.054 2937 3385 735

4308 1.74 544.6 44.3 11.3 396 4312 0.00 2.40 0.00 0.000 6 0.000 0.034 2937 1983 735

4378 1.74 544.6 36.7 10.8 402 4382 0.00 2.53 0.00 0.000 4 0.000 0.061 2938 586 735

4421 1.74 544.6 31.6 11.6 405 4428 0.00 2.38 0.00 0.000 6 0.000 0.030 2937 1996 735

4492 1.74 544.6 23.9 10.9 412 4493 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1996 734

4556 1.74 544.6 16.8 10.2 420 4563 0.00 2.55 0.00 0.000 4 0.000 0.058 2937 587 734

4587 1.74 544.6 13.3 11.9 425 4594 0.00 2.38 0.00 0.000 6 0.000 0.029 2937 2003 735

4662 1.74 544.6 4.7 11.1 438 4668 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2003 734

4690 end climb: SURFACE_DEPTH_REACHED

state 4690 begin surface coast

4706 end surface coast: CONTROL_FINISHED_OK

state 4706 begin surface

ID	117	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	24	ESCAPE_HEADING	180	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	71	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3825	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	1970	ALTIM_FREQUENCY	13
D_TGT	270	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	1994	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	375	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	47	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	746	DEVICE2	-1
T_MISSION	110	CALL_TRIES	5	VBD_MAX	3936	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2917	DEVICE4	-1
T_TURN	225	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	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-107906.65	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	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	250	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	409	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2542	PRESSURE_YINT	-7.1530929	SEABIRD_T_G	0.00439469
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163939	SEABIRD_T_H	0.00064900791
MASS	51956	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5454905e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5957725e-06
FERRY_MAX	0	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.918622
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1128848
HD_A	0.0038360001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0018190074
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019276177
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	194310,2154.650,-15944.423,13,1.3,21,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	2	TGT_RADIUS	750.000
_XMS_NAKs	0	KALMAN_CONTROL	0.298,-0.132
_XMS_TOUTs	0	KALMAN_X	-85503.5,336.7,-476.8,84911.9,-1912.0
_SM_DEPTHo	1.17	KALMAN_Y	31609.7,-202.2,150.6,-33454.6,828.4
_SM_ANGLEo	-51.7	MHEAD_RNG_PITCHd_Wd	104.1,4666,-13.9,-10.000
GPS2	195713,2154.687,-15944.744,16,1.9,33,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.4,1.003402	MM_CLLLayer	0.03
SM_CCo	4787,0.00,0.000,0,0,733,535.98	MM_CfgFile	0.30
SM_GC	0.96,10.98,0.00,0.00,0.030,0.000,0.000,403,2006,733,-9.77,1.02,535.98	_24V_AH	24.1,17.632
IRIDIUM_FIX	2148.09,-15942.95,291098,191918	_10V_AH	10.1,7.614
TT8_MAMPS	0.075166	DATA_FILE_SIZE	12716,446
HUMID	1951	CAP_FILE_SIZE	94715,0
INTERNAL_PRESSURE	7.58818	CFSIZE	260165632,250847232
TCM_TEMP	24.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	040809,211906,2154.711,-15944.817,38,1.3,41,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	174	104.06	SBE_CT	298	24	172.75
Roll_motor	113	66	182.65	nil	0	0	0.00
VBD_pump_during_apogee	647	687	10726.98	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	47	103	118.42	nil	0	0	0.00
Iridium_during_connect	58	160	223.75	GUMSTIX	233	1000	5638.36
Iridium_during_xfer	488	223	2627.69
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	36	1000	887.84
GPS	33	50	16.70
TT8	889	18	161.76
LPSleep	2241	0	8.83
TT8_Active	745	18	135.52
TT8_Sampling	904	38	347.20
TT8_CF8	858	44	381.68
TT8_Kalman	33	80	26.93
Analog_circuits	1361	12	165.07
GPS_charging	0	0	0.00
Compass	839	8	67.83
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	14	begin dive
16	-1.37	-243.3	0.0	0.0	0	117	0.00	0.00	-96.90	0.000	2	0.000	0.000	400	2005	3360
120	-1.37	-243.3	3.9	-8.5	16	146	10.77	0.00	-9.10	0.000	6	0.174	0.000	2237	2005	3911
214	-1.37	-243.3	26.9	-18.2	29	215	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	2006	3911
276	-1.37	-243.3	38.1	-17.5	35	280	0.00	2.55	0.00	0.000	4	0.000	0.055	2237	570	3911
304	-1.37	-243.3	42.8	-16.7	37	308	0.00	2.35	0.00	0.000	6	0.000	0.029	2237	1972	3911
374	-1.37	-243.3	54.0	-15.9	43	375	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1976	3911
437	-1.37	-243.3	65.5	-18.6	49	438	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1976	3911
501	-1.37	-243.3	77.5	-18.0	55	502	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1976	3912
565	-1.37	-243.3	88.0	-16.7	61	566	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1976	3912
630	-1.37	-243.3	98.2	-15.4	67	634	0.00	2.45	0.00	0.000	4	0.000	0.050	2236	3365	3912
651	-1.37	-243.3	101.9	-16.2	68	658	0.00	2.38	0.00	0.000	6	0.000	0.033	2237	1969	3912
721	-1.37	-243.3	113.2	-17.0	75	725	0.00	2.53	0.00	0.000	4	0.000	0.060	2237	563	3912
794	-1.37	-243.3	125.6	-16.8	81	798	0.00	2.38	0.00	0.000	6	0.000	0.030	2237	1979	3912
863	-1.37	-243.3	135.5	-14.1	87	865	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1984	3913
927	-1.37	-243.3	143.6	-12.2	93	932	0.00	2.53	0.00	0.000	4	0.000	0.057	2237	567	3913
980	-1.37	-243.3	149.6	-11.4	97	984	0.00	2.35	0.00	0.000	6	0.000	0.031	2237	1967	3913
1049	-1.37	-243.3	157.9	-11.3	103	1051	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1971	3913
1113	-1.37	-243.3	165.1	-11.7	109	1114	0.00	0.00	0.00	0.000	6	0.000	0.000	2238	1971	3914
1177	-1.37	-243.3	172.3	-11.0	115	1178	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1971	3914
1241	-1.37	-243.3	179.1	-10.8	121	1245	0.00	2.47	0.00	0.000	4	0.000	0.054	2237	3365	3914
1273	-1.37	-243.3	183.0	-10.9	123	1280	0.00	2.40	0.00	0.000	6	0.000	0.036	2237	1962	3913
1343	-1.37	-243.3	191.0	-11.6	130	1348	0.00	2.53	0.00	0.000	4	0.000	0.062	2237	563	3914
1376	-1.37	-243.3	195.0	-12.4	132	1383	0.00	2.38	0.00	0.000	6	0.000	0.032	2238	1969	3914
1446	-1.37	-243.3	203.0	-11.9	139	1450	0.00	2.47	0.00	0.000	4	0.000	0.054	2237	3364	3914
1501	-1.37	-243.3	209.7	-12.4	143	1508	0.00	2.40	0.00	0.000	6	0.000	0.036	2238	1964	3914
1572	-1.37	-243.3	217.5	-11.2	150	1576	0.00	2.50	0.00	0.000	4	0.000	0.054	2237	3366	3914
1600	-1.37	-243.3	221.0	-12.8	152	1604	0.00	2.40	0.00	0.000	6	0.000	0.037	2237	1966	3913
1670	-1.37	-243.3	230.0	-13.1	158	1674	0.00	2.55	0.00	0.000	4	0.000	0.064	2237	563	3913
1725	-1.37	-243.3	237.1	-11.9	162	1732	0.00	2.40	0.00	0.000	6	0.000	0.032	2237	1980	3914
1795	-1.37	-243.3	245.5	-12.0	169	1796	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	1980	3913
1859	-1.37	-243.3	253.0	-11.7	175	1860	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1981	3914
1922	-1.37	-243.3	260.6	-11.8	181	1923	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1980	3913
1986	-1.37	-243.3	268.1	-12.1	187	1987	0.00	0.00	0.00	0.000	6	0.000	0.000	2237	1981	3913
2006	end dive: TARGET_DEPTH_EXCEEDED
state	2006	begin apogee
2011	-0.38	0.0	270.7	12.1	189	2212	1.05	0.00	195.68	0.687	6	0.090	0.000	2453	1982	2917
2213	end apogee: CONTROL_FINISHED_OK
state	2213	begin climb
2216	1.37	243.3	276.5	0.0	209	2423	1.75	2.53	196.57	0.672	4	0.058	0.062	2842	592	1924
2452	1.49	343.6	262.0	7.2	231	2543	0.10	2.42	84.20	0.653	6	0.051	0.035	2886	1997	1516
2609	1.52	367.3	248.6	9.3	245	2636	0.00	2.60	20.98	0.620	4	0.000	0.062	2886	3383	1419
2659	1.55	389.3	243.5	9.4	249	2689	0.00	2.45	20.33	0.617	6	0.000	0.040	2886	1993	1328
2752	1.57	405.1	234.6	9.6	258	2775	0.00	2.65	14.43	0.601	4	0.000	0.067	2886	592	1265
2814	1.59	423.4	228.6	9.5	263	2836	0.00	2.42	17.25	0.614	6	0.000	0.035	2886	1996	1191
2902	1.63	458.4	220.9	9.0	271	2935	0.00	0.00	31.30	0.634	6	0.000	0.000	2886	1997	1048
2995	1.65	470.6	211.7	9.7	280	3012	0.00	2.55	11.68	0.583	4	0.000	0.058	2886	3388	998
3046	1.67	490.6	206.8	9.4	284	3070	0.00	2.45	18.15	0.608	6	0.000	0.040	2886	1992	917
3133	1.74	544.6	199.4	8.5	292	3174	0.15	0.00	37.12	0.631	6	0.041	0.000	2937	1992	746
3237	1.74	544.6	187.1	12.4	302	3241	0.00	2.60	0.00	0.000	4	0.000	0.066	2937	584	742
3257	1.74	544.6	184.3	13.0	303	3265	0.00	2.45	0.00	0.000	6	0.000	0.035	2937	2007	742
3328	1.74	544.6	175.4	13.2	310	3329	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2007	741
3391	1.74	544.6	166.5	14.5	316	3393	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2007	740
3455	1.74	544.6	157.2	14.9	322	3460	0.00	2.60	0.00	0.000	4	0.000	0.061	2937	589	739
3489	1.74	544.6	151.8	15.9	324	3496	0.00	2.40	0.00	0.000	6	0.000	0.033	2937	1994	739
3559	1.74	544.6	140.8	15.8	331	3560	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1994	738
3623	1.74	544.6	130.1	17.0	337	3627	0.00	2.58	0.00	0.000	4	0.000	0.061	2937	589	738
3655	1.74	544.6	124.2	17.8	339	3662	0.00	2.40	0.00	0.000	6	0.000	0.033	2937	1992	738
3727	1.74	544.6	113.0	16.0	346	3731	0.00	2.58	0.00	0.000	4	0.000	0.061	2937	585	737
3767	1.74	544.6	107.3	14.0	349	3771	0.00	2.42	0.00	0.000	6	0.000	0.032	2937	2003	737
3837	1.74	544.6	98.6	11.7	355	3841	0.00	2.50	0.00	0.000	4	0.000	0.059	2937	3389	737
3869	1.74	544.6	95.0	10.7	357	3876	0.00	2.42	0.00	0.000	6	0.000	0.035	2937	1984	737
3941	1.74	544.6	87.9	10.4	364	3945	0.00	2.50	0.00	0.000	4	0.000	0.061	2937	594	736
3973	1.74	544.6	83.7	12.0	366	3980	0.00	2.40	0.00	0.000	6	0.000	0.031	2937	2009	736
4044	1.74	544.6	74.8	13.5	373	4046	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2009	736
4107	1.74	544.6	66.2	13.7	379	4111	0.00	2.58	0.00	0.000	4	0.000	0.058	2937	588	736
4146	1.74	544.6	61.6	11.6	382	4150	0.00	2.38	0.00	0.000	6	0.000	0.030	2937	1995	735
4216	1.74	544.6	54.4	10.3	388	4217	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1996	735
4279	1.74	544.6	47.5	10.4	394	4284	0.00	2.47	0.00	0.000	4	0.000	0.054	2937	3385	735
4308	1.74	544.6	44.3	11.3	396	4312	0.00	2.40	0.00	0.000	6	0.000	0.034	2937	1983	735
4378	1.74	544.6	36.7	10.8	402	4382	0.00	2.53	0.00	0.000	4	0.000	0.061	2938	586	735
4421	1.74	544.6	31.6	11.6	405	4428	0.00	2.38	0.00	0.000	6	0.000	0.030	2937	1996	735
4492	1.74	544.6	23.9	10.9	412	4493	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	1996	734
4556	1.74	544.6	16.8	10.2	420	4563	0.00	2.55	0.00	0.000	4	0.000	0.058	2937	587	734
4587	1.74	544.6	13.3	11.9	425	4594	0.00	2.38	0.00	0.000	6	0.000	0.029	2937	2003	735
4662	1.74	544.6	4.7	11.1	438	4668	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2003	734
4690	end climb: SURFACE_DEPTH_REACHED
state	4690	begin surface coast
4706	end surface coast: CONTROL_FINISHED_OK
state	4706	begin surface