Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 72 * 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 72 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 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 -107920.62 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 -107920.62

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 26 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 43 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 72 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 211906,2154.711,-15944.817,38,1.3,41,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 750.000

_XMS_NAKs 4 KALMAN_CONTROL 0.301,-0.125

_XMS_TOUTs 0 KALMAN_X -87129.2,-337.4,-403.8,86515.3,-1837.2

_SM_DEPTHo 1.12 KALMAN_Y 32214.7,84.5,93.1,-34167.4,749.7

_SM_ANGLEo -53.4 MHEAD_RNG_PITCHd_Wd 102.7,5283,-13.9,-10.000

GPS2 213026,2154.750,-15945.102,13,1.1,13,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.6,1.022840 MM_CLLLayer 0.03

SM_CCo 5004,0.00,0.000,0,0,741,533.77 MM_CfgFile 0.30

SM_GC 1.03,11.10,0.00,0.00,0.039,0.000,0.000,406,1996,741,-9.78,0.71,533.77 _24V_AH 24.1,17.791

IRIDIUM_FIX 2148.09,-15942.95,291098,202040 _10V_AH 10.0,7.709

TT8_MAMPS 0.059059 DATA_FILE_SIZE 15877,470

HUMID 1963 CAP_FILE_SIZE 91812,0

INTERNAL_PRESSURE 7.56865 CFSIZE 260165632,250744832

TCM_TEMP 24.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 040809,225526,2154.763,-15945.312,11,1.9,11,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 175 106.04 SBE_CT 315 24 182.74

Roll_motor 93 66 150.85 nil 0 0 0.00

VBD_pump_during_apogee 640 692 10697.28 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 32 103 81.87 nil 0 0 0.00

Iridium_during_connect 54 160 210.38 GUMSTIX 204 1000 4923.41

Iridium_during_xfer 426 223 2293.43

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 37 1000 899.00

GPS 13 50 6.67

TT8 923 18 166.15

LPSleep 2371 0 9.25

TT8_Active 713 18 128.51

TT8_Sampling 905 38 344.04

TT8_CF8 775 44 341.39

TT8_Kalman 33 80 26.68

Analog_circuits 1335 12 160.22

GPS_charging 0 0 0.00

Compass 863 8 69.06

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

17 -1.37 -243.3 0.0 0.0 0 118 0.00 0.00 -96.90 0.000 2 0.000 0.000 404 2007 3318

121 -1.37 -243.3 3.7 -8.0 16 148 10.80 2.58 -10.07 0.000 4 0.176 0.066 2240 567 3913

172 -1.37 -243.3 18.8 -20.4 24 179 0.00 2.35 0.00 0.000 6 0.000 0.029 2240 1965 3914

249 -1.37 -243.3 33.0 -18.9 32 250 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1965 3914

312 -1.37 -243.3 44.5 -17.6 38 313 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1969 3914

376 -1.37 -243.3 55.4 -17.4 44 380 0.00 2.47 0.00 0.000 4 0.000 0.051 2240 3362 3914

408 -1.37 -243.3 61.6 -17.3 46 415 0.00 2.40 0.00 0.000 6 0.000 0.034 2240 1955 3914

478 -1.37 -243.3 72.5 -15.9 53 482 0.00 2.50 0.00 0.000 4 0.000 0.058 2240 563 3914

545 -1.37 -243.3 82.8 -13.9 58 552 0.00 2.38 0.00 0.000 6 0.000 0.029 2240 1976 3915

615 -1.37 -243.3 93.4 -16.4 65 616 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1981 3914

678 -1.37 -243.3 102.8 -14.5 71 680 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1980 3915

742 -1.37 -243.3 112.7 -15.1 77 746 0.00 2.53 0.00 0.000 4 0.000 0.056 2240 570 3915

775 -1.37 -243.3 117.9 -15.4 79 782 0.00 2.38 0.00 0.000 6 0.000 0.031 2240 1983 3915

845 -1.37 -243.3 127.3 -13.8 86 849 0.00 2.45 0.00 0.000 4 0.000 0.053 2240 3366 3915

895 -1.37 -243.3 134.2 -13.3 90 900 0.00 2.38 0.00 0.000 6 0.000 0.035 2240 1973 3915

965 -1.37 -243.3 142.8 -12.5 96 966 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1973 3916

1029 -1.37 -243.3 151.0 -13.0 102 1030 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1973 3916

1093 -1.37 -243.3 159.5 -13.1 108 1097 0.00 2.53 0.00 0.000 4 0.000 0.061 2240 571 3916

1155 -1.37 -243.3 168.0 -14.2 113 1159 0.00 2.35 0.00 0.000 6 0.000 0.031 2240 1966 3916

1225 -1.37 -243.3 177.3 -13.4 119 1226 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1966 3916

1288 -1.37 -243.3 186.3 -14.4 125 1290 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1966 3916

1352 -1.37 -243.3 195.0 -13.7 131 1356 0.00 2.53 0.00 0.000 4 0.000 0.059 2240 569 3917

1395 -1.37 -243.3 201.2 -14.3 134 1402 0.00 2.38 0.00 0.000 6 0.000 0.032 2240 1973 3917

1465 -1.37 -243.3 210.0 -12.7 141 1470 0.00 2.47 0.00 0.000 4 0.000 0.054 2240 3367 3917

1528 -1.37 -243.3 218.0 -13.1 146 1532 0.00 2.40 0.00 0.000 6 0.000 0.036 2240 1964 3917

1598 -1.37 -243.3 226.9 -12.5 152 1602 0.00 2.53 0.00 0.000 4 0.000 0.062 2240 567 3917

1641 -1.37 -243.3 232.8 -13.2 155 1648 0.00 2.38 0.00 0.000 6 0.000 0.032 2240 1969 3917

1711 -1.37 -243.3 241.1 -11.8 162 1712 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1969 3916

1775 -1.37 -243.3 249.0 -12.3 168 1776 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1969 3917

1839 -1.37 -243.3 256.8 -12.2 174 1840 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1969 3918

1902 -1.37 -243.3 264.9 -12.8 180 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1969 3917

1943 end dive: TARGET_DEPTH_EXCEEDED

state 1943 begin apogee

1948 -0.38 0.0 270.3 12.9 184 2150 1.02 0.00 196.07 0.693 6 0.086 0.000 2454 1973 2917

2151 end apogee: CONTROL_FINISHED_OK

state 2151 begin climb

2153 1.37 243.3 281.6 0.0 204 2362 1.75 2.58 197.75 0.676 4 0.059 0.062 2843 592 1923

2390 1.54 382.7 273.9 6.1 225 2515 0.15 2.45 117.22 0.667 6 0.045 0.035 2892 2003 1356

2579 1.54 382.7 255.7 11.5 242 2583 0.00 2.55 0.00 0.000 4 0.000 0.065 2891 3385 1352

2611 1.54 382.7 251.4 12.5 244 2618 0.00 2.45 0.00 0.000 6 0.000 0.041 2892 1999 1351

2682 1.54 382.7 242.9 12.5 251 2683 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1999 1350

2745 1.54 382.7 234.6 12.7 257 2746 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1998 1349

2809 1.54 382.7 225.9 13.8 263 2810 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1999 1349

2873 1.54 382.7 217.4 13.3 269 2874 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1998 1348

2936 1.54 382.7 209.2 13.1 275 2941 0.00 2.60 0.00 0.000 4 0.000 0.067 2891 589 1347

2965 1.54 382.7 205.2 14.1 277 2969 0.00 2.42 0.00 0.000 6 0.000 0.036 2891 1993 1346

3041 1.54 382.7 195.6 12.4 284 3045 0.00 2.55 0.00 0.000 4 0.000 0.061 2892 3394 1346

3107 1.54 382.7 187.6 11.2 289 3114 0.00 2.47 0.00 0.000 6 0.000 0.040 2891 1981 1345

3178 1.55 390.7 180.8 9.8 296 3189 0.00 2.55 6.12 0.523 4 0.000 0.064 2891 593 1324

3212 1.55 390.7 177.1 10.2 299 3217 0.00 2.42 0.00 0.000 6 0.000 0.035 2892 2002 1323

3282 1.55 390.7 169.8 10.5 305 3283 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 2002 1322

3346 1.55 390.7 163.2 10.4 311 3347 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 2001 1322

3410 1.55 390.7 156.6 10.4 317 3411 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 2001 1321

3473 1.55 390.7 149.8 10.7 323 3474 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 2002 1321

3537 1.55 390.7 143.2 10.1 329 3538 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 2002 1321

3601 1.55 390.7 136.7 10.2 335 3605 0.00 2.58 0.00 0.000 4 0.000 0.060 2892 590 1320

3655 1.55 390.7 130.9 11.3 339 3662 0.00 2.40 0.00 0.000 6 0.000 0.033 2892 1997 1320

3726 1.55 390.7 123.8 10.3 346 3727 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1996 1320

3789 1.55 391.7 117.4 10.0 352 3791 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1997 1320

3853 1.58 412.5 111.4 9.4 358 3875 0.00 0.00 19.62 0.609 6 0.000 0.000 2892 1997 1235

3937 1.60 428.0 103.4 9.6 366 3957 0.00 0.00 14.60 0.585 6 0.000 0.000 2892 1996 1172

4021 1.60 428.0 94.7 10.3 374 4022 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 1997 1169

4084 1.60 428.0 87.8 10.8 380 4085 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 1997 1168

4148 1.60 428.0 80.7 11.1 386 4149 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 1997 1167

4212 1.60 428.0 73.7 11.0 392 4216 0.00 2.55 0.00 0.000 4 0.000 0.058 2891 592 1167

4244 1.60 428.0 69.9 11.5 394 4251 0.00 2.40 0.00 0.000 6 0.000 0.031 2892 2002 1167

4314 1.60 428.0 62.3 11.2 401 4318 0.00 2.50 0.00 0.000 4 0.000 0.058 2892 3389 1167

4342 1.60 428.0 59.6 10.1 403 4346 0.00 2.42 0.00 0.000 6 0.000 0.036 2892 1983 1167

4412 1.62 450.9 52.9 9.4 409 4437 0.00 2.58 19.95 0.564 4 0.000 0.061 2892 586 1079

4483 1.71 522.5 46.4 8.0 415 4550 0.10 2.40 60.70 0.565 6 0.052 0.031 2939 2003 785

4620 1.71 522.5 32.0 12.4 428 4622 0.12 0.00 0.00 0.000 6 0.076 0.000 2913 2003 782

4684 1.71 522.5 25.0 10.5 434 4685 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2003 781

4748 1.73 536.9 19.0 9.6 440 4762 0.00 2.60 8.82 0.478 4 0.000 0.058 2913 588 746

4791 1.73 536.9 14.1 10.1 447 4798 0.00 2.38 0.00 0.000 6 0.000 0.030 2913 1991 745

4866 1.73 536.9 6.3 12.3 460 4872 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 1995 744

4904 end climb: SURFACE_DEPTH_REACHED

state 4904 begin surface coast

4922 end surface coast: CONTROL_FINISHED_OK

state 4922 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	72	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	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	-107920.62	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	211906,2154.711,-15944.817,38,1.3,41,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	750.000
_XMS_NAKs	4	KALMAN_CONTROL	0.301,-0.125
_XMS_TOUTs	0	KALMAN_X	-87129.2,-337.4,-403.8,86515.3,-1837.2
_SM_DEPTHo	1.12	KALMAN_Y	32214.7,84.5,93.1,-34167.4,749.7
_SM_ANGLEo	-53.4	MHEAD_RNG_PITCHd_Wd	102.7,5283,-13.9,-10.000
GPS2	213026,2154.750,-15945.102,13,1.1,13,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.6,1.022840	MM_CLLLayer	0.03
SM_CCo	5004,0.00,0.000,0,0,741,533.77	MM_CfgFile	0.30
SM_GC	1.03,11.10,0.00,0.00,0.039,0.000,0.000,406,1996,741,-9.78,0.71,533.77	_24V_AH	24.1,17.791
IRIDIUM_FIX	2148.09,-15942.95,291098,202040	_10V_AH	10.0,7.709
TT8_MAMPS	0.059059	DATA_FILE_SIZE	15877,470
HUMID	1963	CAP_FILE_SIZE	91812,0
INTERNAL_PRESSURE	7.56865	CFSIZE	260165632,250744832
TCM_TEMP	24.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	040809,225526,2154.763,-15945.312,11,1.9,11,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	175	106.04	SBE_CT	315	24	182.74
Roll_motor	93	66	150.85	nil	0	0	0.00
VBD_pump_during_apogee	640	692	10697.28	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	32	103	81.87	nil	0	0	0.00
Iridium_during_connect	54	160	210.38	GUMSTIX	204	1000	4923.41
Iridium_during_xfer	426	223	2293.43
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	37	1000	899.00
GPS	13	50	6.67
TT8	923	18	166.15
LPSleep	2371	0	9.25
TT8_Active	713	18	128.51
TT8_Sampling	905	38	344.04
TT8_CF8	775	44	341.39
TT8_Kalman	33	80	26.68
Analog_circuits	1335	12	160.22
GPS_charging	0	0	0.00
Compass	863	8	69.06
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
17	-1.37	-243.3	0.0	0.0	0	118	0.00	0.00	-96.90	0.000	2	0.000	0.000	404	2007	3318
121	-1.37	-243.3	3.7	-8.0	16	148	10.80	2.58	-10.07	0.000	4	0.176	0.066	2240	567	3913
172	-1.37	-243.3	18.8	-20.4	24	179	0.00	2.35	0.00	0.000	6	0.000	0.029	2240	1965	3914
249	-1.37	-243.3	33.0	-18.9	32	250	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1965	3914
312	-1.37	-243.3	44.5	-17.6	38	313	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1969	3914
376	-1.37	-243.3	55.4	-17.4	44	380	0.00	2.47	0.00	0.000	4	0.000	0.051	2240	3362	3914
408	-1.37	-243.3	61.6	-17.3	46	415	0.00	2.40	0.00	0.000	6	0.000	0.034	2240	1955	3914
478	-1.37	-243.3	72.5	-15.9	53	482	0.00	2.50	0.00	0.000	4	0.000	0.058	2240	563	3914
545	-1.37	-243.3	82.8	-13.9	58	552	0.00	2.38	0.00	0.000	6	0.000	0.029	2240	1976	3915
615	-1.37	-243.3	93.4	-16.4	65	616	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1981	3914
678	-1.37	-243.3	102.8	-14.5	71	680	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1980	3915
742	-1.37	-243.3	112.7	-15.1	77	746	0.00	2.53	0.00	0.000	4	0.000	0.056	2240	570	3915
775	-1.37	-243.3	117.9	-15.4	79	782	0.00	2.38	0.00	0.000	6	0.000	0.031	2240	1983	3915
845	-1.37	-243.3	127.3	-13.8	86	849	0.00	2.45	0.00	0.000	4	0.000	0.053	2240	3366	3915
895	-1.37	-243.3	134.2	-13.3	90	900	0.00	2.38	0.00	0.000	6	0.000	0.035	2240	1973	3915
965	-1.37	-243.3	142.8	-12.5	96	966	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1973	3916
1029	-1.37	-243.3	151.0	-13.0	102	1030	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1973	3916
1093	-1.37	-243.3	159.5	-13.1	108	1097	0.00	2.53	0.00	0.000	4	0.000	0.061	2240	571	3916
1155	-1.37	-243.3	168.0	-14.2	113	1159	0.00	2.35	0.00	0.000	6	0.000	0.031	2240	1966	3916
1225	-1.37	-243.3	177.3	-13.4	119	1226	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1966	3916
1288	-1.37	-243.3	186.3	-14.4	125	1290	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1966	3916
1352	-1.37	-243.3	195.0	-13.7	131	1356	0.00	2.53	0.00	0.000	4	0.000	0.059	2240	569	3917
1395	-1.37	-243.3	201.2	-14.3	134	1402	0.00	2.38	0.00	0.000	6	0.000	0.032	2240	1973	3917
1465	-1.37	-243.3	210.0	-12.7	141	1470	0.00	2.47	0.00	0.000	4	0.000	0.054	2240	3367	3917
1528	-1.37	-243.3	218.0	-13.1	146	1532	0.00	2.40	0.00	0.000	6	0.000	0.036	2240	1964	3917
1598	-1.37	-243.3	226.9	-12.5	152	1602	0.00	2.53	0.00	0.000	4	0.000	0.062	2240	567	3917
1641	-1.37	-243.3	232.8	-13.2	155	1648	0.00	2.38	0.00	0.000	6	0.000	0.032	2240	1969	3917
1711	-1.37	-243.3	241.1	-11.8	162	1712	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1969	3916
1775	-1.37	-243.3	249.0	-12.3	168	1776	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1969	3917
1839	-1.37	-243.3	256.8	-12.2	174	1840	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1969	3918
1902	-1.37	-243.3	264.9	-12.8	180	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1969	3917
1943	end dive: TARGET_DEPTH_EXCEEDED
state	1943	begin apogee
1948	-0.38	0.0	270.3	12.9	184	2150	1.02	0.00	196.07	0.693	6	0.086	0.000	2454	1973	2917
2151	end apogee: CONTROL_FINISHED_OK
state	2151	begin climb
2153	1.37	243.3	281.6	0.0	204	2362	1.75	2.58	197.75	0.676	4	0.059	0.062	2843	592	1923
2390	1.54	382.7	273.9	6.1	225	2515	0.15	2.45	117.22	0.667	6	0.045	0.035	2892	2003	1356
2579	1.54	382.7	255.7	11.5	242	2583	0.00	2.55	0.00	0.000	4	0.000	0.065	2891	3385	1352
2611	1.54	382.7	251.4	12.5	244	2618	0.00	2.45	0.00	0.000	6	0.000	0.041	2892	1999	1351
2682	1.54	382.7	242.9	12.5	251	2683	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1999	1350
2745	1.54	382.7	234.6	12.7	257	2746	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1998	1349
2809	1.54	382.7	225.9	13.8	263	2810	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1999	1349
2873	1.54	382.7	217.4	13.3	269	2874	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1998	1348
2936	1.54	382.7	209.2	13.1	275	2941	0.00	2.60	0.00	0.000	4	0.000	0.067	2891	589	1347
2965	1.54	382.7	205.2	14.1	277	2969	0.00	2.42	0.00	0.000	6	0.000	0.036	2891	1993	1346
3041	1.54	382.7	195.6	12.4	284	3045	0.00	2.55	0.00	0.000	4	0.000	0.061	2892	3394	1346
3107	1.54	382.7	187.6	11.2	289	3114	0.00	2.47	0.00	0.000	6	0.000	0.040	2891	1981	1345
3178	1.55	390.7	180.8	9.8	296	3189	0.00	2.55	6.12	0.523	4	0.000	0.064	2891	593	1324
3212	1.55	390.7	177.1	10.2	299	3217	0.00	2.42	0.00	0.000	6	0.000	0.035	2892	2002	1323
3282	1.55	390.7	169.8	10.5	305	3283	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	2002	1322
3346	1.55	390.7	163.2	10.4	311	3347	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	2001	1322
3410	1.55	390.7	156.6	10.4	317	3411	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	2001	1321
3473	1.55	390.7	149.8	10.7	323	3474	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	2002	1321
3537	1.55	390.7	143.2	10.1	329	3538	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	2002	1321
3601	1.55	390.7	136.7	10.2	335	3605	0.00	2.58	0.00	0.000	4	0.000	0.060	2892	590	1320
3655	1.55	390.7	130.9	11.3	339	3662	0.00	2.40	0.00	0.000	6	0.000	0.033	2892	1997	1320
3726	1.55	390.7	123.8	10.3	346	3727	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1996	1320
3789	1.55	391.7	117.4	10.0	352	3791	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1997	1320
3853	1.58	412.5	111.4	9.4	358	3875	0.00	0.00	19.62	0.609	6	0.000	0.000	2892	1997	1235
3937	1.60	428.0	103.4	9.6	366	3957	0.00	0.00	14.60	0.585	6	0.000	0.000	2892	1996	1172
4021	1.60	428.0	94.7	10.3	374	4022	0.00	0.00	0.00	0.000	6	0.000	0.000	2892	1997	1169
4084	1.60	428.0	87.8	10.8	380	4085	0.00	0.00	0.00	0.000	6	0.000	0.000	2891	1997	1168
4148	1.60	428.0	80.7	11.1	386	4149	0.00	0.00	0.00	0.000	6	0.000	0.000	2891	1997	1167
4212	1.60	428.0	73.7	11.0	392	4216	0.00	2.55	0.00	0.000	4	0.000	0.058	2891	592	1167
4244	1.60	428.0	69.9	11.5	394	4251	0.00	2.40	0.00	0.000	6	0.000	0.031	2892	2002	1167
4314	1.60	428.0	62.3	11.2	401	4318	0.00	2.50	0.00	0.000	4	0.000	0.058	2892	3389	1167
4342	1.60	428.0	59.6	10.1	403	4346	0.00	2.42	0.00	0.000	6	0.000	0.036	2892	1983	1167
4412	1.62	450.9	52.9	9.4	409	4437	0.00	2.58	19.95	0.564	4	0.000	0.061	2892	586	1079
4483	1.71	522.5	46.4	8.0	415	4550	0.10	2.40	60.70	0.565	6	0.052	0.031	2939	2003	785
4620	1.71	522.5	32.0	12.4	428	4622	0.12	0.00	0.00	0.000	6	0.076	0.000	2913	2003	782
4684	1.71	522.5	25.0	10.5	434	4685	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2003	781
4748	1.73	536.9	19.0	9.6	440	4762	0.00	2.60	8.82	0.478	4	0.000	0.058	2913	588	746
4791	1.73	536.9	14.1	10.1	447	4798	0.00	2.38	0.00	0.000	6	0.000	0.030	2913	1991	745
4866	1.73	536.9	6.3	12.3	460	4872	0.00	0.00	0.00	0.000	6	0.000	0.000	2914	1995	744
4904	end climb: SURFACE_DEPTH_REACHED
state	4904	begin surface coast
4922	end surface coast: CONTROL_FINISHED_OK
state	4922	begin surface