Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 110 * 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 110 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 450 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 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 100 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 150 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 -108632.98 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 450 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 100

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 -108632.98

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 150

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 27 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 45 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 110 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 001736,2156.615,-15947.236,36,1.3,42,9.8 TGT_LATLONG 2154.185,-15941.805

_CALLS 3 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.342,-0.150

_XMS_TOUTs 0 KALMAN_X -165669.6,214.0,-553.1,160313.5,-2926.2

_SM_DEPTHo 1.10 KALMAN_Y 71901.7,-331.8,295.4,-69824.7,1325.2

_SM_ANGLEo -54.5 MHEAD_RNG_PITCHd_Wd 103.9,11150,-19.7,-15.000

GPS2 003038,2156.818,-15947.641,15,1.4,15,9.8 D_GRID 450

SPEED_LIMITS 0.150,0.374 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobNE

Post-dive calculations and measurements:

FINISH 0.4,1.022989 MM_CLLLayer 0.03

SM_CCo 6051,0.00,0.000,0,0,791,521.51 MM_CfgFile 0.30

SM_GC 1.20,11.48,0.00,0.00,0.030,0.000,0.000,403,1952,791,-9.78,-0.51,521.51 _24V_AH 23.9,24.801

IRIDIUM_FIX 2145.77,-15955.46,021198,000034 _10V_AH 10.1,10.938

TT8_MAMPS 0.056758 DATA_FILE_SIZE 18974,560

HUMID 2073 CAP_FILE_SIZE 96593,0

INTERNAL_PRESSURE 7.50029 CFSIZE 260165632,247029760

TCM_TEMP 23.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 080809,021307,2156.960,-15947.228,9,1.6,10,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 170 104.28 SBE_CT 383 24 220.04

Roll_motor 89 162 349.66 nil 0 0 0.00

VBD_pump_during_apogee 659 862 13604.29 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 73 103 181.99 nil 0 0 0.00

Iridium_during_connect 117 160 449.58 GUMSTIX 162 1000 3881.03

Iridium_during_xfer 342 223 1827.58

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 130 1000 3117.42

GPS 15 50 8.04

TT8 1098 18 199.63

LPSleep 3193 0 12.58

TT8_Active 712 18 129.61

TT8_Sampling 1057 38 405.69

TT8_CF8 788 44 350.31

TT8_Kalman 33 80 26.93

Analog_circuits 1406 12 170.53

GPS_charging 0 0 0.00

Compass 1021 8 82.56

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 13 begin dive

16 -1.81 -243.3 0.0 0.0 0 110 0.00 0.00 -90.65 0.000 2 0.000 0.000 404 2002 3250

113 -1.81 -243.3 3.2 -5.8 15 139 10.07 0.00 -11.88 0.000 6 0.170 0.000 2140 2003 3911

207 -1.81 -243.3 28.1 -24.5 28 208 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2004 3912

269 -1.81 -243.3 43.5 -23.8 34 271 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2004 3912

333 -1.81 -243.3 56.5 -20.3 40 337 0.00 2.58 0.00 0.000 4 0.000 0.055 2140 563 3912

384 -1.81 -243.3 67.3 -21.4 44 388 0.00 2.35 0.00 0.000 6 0.000 0.029 2140 1964 3912

454 -1.81 -243.3 81.5 -20.4 50 458 0.00 2.47 0.00 0.000 4 0.000 0.049 2140 3370 3912

482 -1.81 -243.3 88.0 -23.0 52 486 0.00 2.40 0.00 0.000 6 0.000 0.034 2141 1966 3912

552 -1.81 -243.3 102.5 -20.3 58 553 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1966 3912

616 -1.81 -243.3 114.1 -17.8 64 620 0.00 2.47 0.00 0.000 4 0.000 0.050 2140 3361 3912

659 -1.81 -243.3 123.1 -19.9 67 667 0.00 2.38 0.00 0.000 6 0.000 0.035 2140 1971 3913

730 -1.81 -243.3 136.3 -19.3 74 731 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1970 3913

793 -1.81 -243.3 148.3 -18.9 80 795 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1971 3913

857 -1.81 -243.3 159.9 -18.5 86 859 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1971 3913

921 -1.81 -243.3 170.8 -17.3 92 922 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 1971 3913

985 -1.81 -243.3 181.5 -16.5 98 986 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1970 3914

1049 -1.81 -243.3 191.3 -14.7 104 1050 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1970 3914

1112 -1.81 -243.3 200.6 -14.8 110 1117 0.00 2.47 0.00 0.000 4 0.000 0.051 2140 3366 3914

1145 -1.81 -243.3 206.1 -16.6 112 1152 0.00 2.40 0.00 0.000 6 0.000 0.036 2141 1967 3914

1215 -1.81 -243.3 218.0 -17.8 119 1216 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1967 3914

1279 -1.81 -243.3 229.1 -16.6 125 1280 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1967 3914

1343 -1.81 -243.3 239.3 -15.7 131 1344 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1967 3914

1407 -1.81 -243.3 248.8 -14.6 137 1408 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 1967 3914

1470 -1.81 -243.3 257.6 -13.9 143 1472 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1967 3914

1534 -1.81 -243.3 268.0 -17.1 149 1535 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 1967 3914

1598 -1.81 -243.3 278.6 -16.0 155 1602 0.00 2.55 0.00 0.000 4 0.000 0.065 2140 572 3913

1637 -1.81 -243.3 285.2 -16.6 158 1642 0.00 2.38 0.00 0.000 6 0.000 0.032 2140 1970 3913

1707 -1.81 -243.3 297.7 -17.9 164 1709 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1974 3913

1771 -1.81 -243.3 308.4 -16.8 170 1775 0.00 2.55 0.00 0.000 4 0.000 0.063 2140 573 3912

1825 -1.81 -243.3 317.3 -16.5 174 1832 0.00 2.38 0.00 0.000 6 0.000 0.034 2140 1966 3912

2023 -1.81 -243.3 348.0 -15.5 193 2024 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1971 3911

2214 -1.81 -243.3 377.5 -15.2 211 2215 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1971 3909

2406 -1.81 -243.3 406.0 -14.6 229 2410 0.00 2.55 0.00 0.000 4 0.000 0.061 2140 3369 3907

2457 -1.81 -243.3 413.4 -14.8 233 2461 0.00 2.45 0.00 0.000 6 0.000 0.041 2140 1965 3906

2654 -1.81 -243.3 443.0 -15.2 251 2655 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 1965 3904

2705 end dive: TARGET_DEPTH_EXCEEDED

state 2705 begin apogee

2710 -0.38 0.0 451.1 15.6 256 2923 1.58 0.00 206.43 0.863 6 0.107 0.000 2452 1964 2917

2924 end apogee: CONTROL_FINISHED_OK

state 2924 begin climb

2926 1.81 243.3 459.2 0.0 277 3147 2.22 2.70 208.65 0.833 4 0.061 0.064 2939 3396 1925

3287 1.81 243.3 410.9 17.1 308 3294 0.00 2.50 0.00 0.000 6 0.000 0.042 2939 1991 1917

3485 1.85 276.5 381.6 13.6 327 3516 0.00 0.00 28.80 0.785 6 0.000 0.000 2939 1991 1789

3707 1.89 306.3 351.2 13.8 348 3741 0.00 2.62 26.88 0.776 4 0.000 0.061 2939 3390 1667

3810 1.94 346.5 336.7 13.3 357 3856 0.12 2.47 36.33 0.788 6 0.052 0.042 2976 1992 1503

4046 1.94 346.5 300.2 15.4 379 4050 0.00 2.62 0.00 0.000 4 0.000 0.071 2976 589 1496

4074 1.94 346.5 295.8 15.7 381 4078 0.00 2.45 0.00 0.000 6 0.000 0.037 2976 1998 1495

4143 1.94 346.5 284.7 15.7 387 4145 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2001 1494

4207 1.94 346.5 275.2 15.2 393 4208 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2002 1493

4271 1.95 355.4 265.9 14.6 399 4282 0.00 0.00 7.28 0.656 6 0.000 0.000 2975 2002 1468

4345 1.96 367.3 254.9 14.5 406 4359 0.00 0.00 11.93 0.712 6 0.000 0.000 2976 2003 1419

4418 1.96 367.3 243.4 16.6 413 4419 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2003 1417

4482 1.96 367.3 233.2 16.0 419 4483 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 2003 1415

4546 1.96 367.3 222.1 17.1 425 4550 0.00 2.62 0.00 0.000 4 0.000 0.067 2975 588 1415

4578 1.96 367.3 216.3 17.1 427 4585 0.00 2.45 0.00 0.000 6 0.000 0.036 2976 1998 1414

4648 1.96 367.3 204.7 17.8 434 4649 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2000 1414

4712 1.96 367.3 194.3 16.0 440 4716 0.00 2.55 0.00 0.000 4 0.000 0.061 2976 3396 1413

4763 2.02 414.0 187.0 13.1 444 4810 0.00 2.47 40.95 0.729 6 0.000 0.040 2976 1990 1229

4871 2.02 414.0 172.7 15.2 454 4876 0.00 2.60 0.00 0.000 4 0.000 0.067 2978 589 1225

4904 2.02 414.0 166.6 18.2 456 4911 0.00 2.45 0.00 0.000 6 0.000 0.035 2976 2003 1224

4974 2.02 414.0 155.5 15.5 463 4976 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2003 1223

5039 2.04 429.3 146.1 14.4 469 5058 0.00 0.00 13.68 0.659 6 0.000 0.000 2976 2007 1166

5122 2.05 435.6 134.0 14.7 477 5135 0.00 2.65 6.50 0.570 4 0.000 0.062 2975 582 1140

5181 2.05 435.6 124.0 18.2 482 5185 0.00 2.45 0.00 0.000 6 0.000 0.033 2976 2003 1139

5251 2.05 435.6 112.2 16.8 488 5252 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2003 1138

5314 2.05 435.6 101.4 17.3 494 5315 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2003 1138

5378 2.05 435.6 90.4 17.5 500 5382 0.00 2.53 0.00 0.000 4 0.000 0.058 2976 3397 1137

5417 2.05 435.6 83.3 18.4 503 5421 0.00 2.45 0.00 0.000 6 0.000 0.037 2976 1990 1137

5487 2.05 435.6 72.3 16.0 509 5491 0.00 2.58 0.00 0.000 4 0.000 0.063 2976 582 1136

5515 2.05 435.6 67.7 17.0 511 5519 0.00 2.42 0.00 0.000 6 0.000 0.031 2976 2002 1136

5585 2.05 435.6 57.0 15.2 517 5589 0.00 2.50 0.00 0.000 4 0.000 0.056 2976 3390 1136

5614 2.05 435.6 52.8 15.4 519 5619 0.00 2.42 0.00 0.000 6 0.000 0.035 2976 1991 1135

5685 2.07 457.4 42.7 14.1 525 5709 0.00 2.65 19.20 0.612 4 0.000 0.061 2976 585 1051

5778 2.15 519.5 30.2 12.4 533 5838 0.15 2.40 53.08 0.595 6 0.040 0.030 3025 2003 798

5906 2.15 519.5 10.2 17.8 549 5912 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2003 796

5955 end climb: SURFACE_DEPTH_REACHED

state 5955 begin surface coast

5968 end surface coast: CONTROL_FINISHED_OK

state 5968 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	110	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	450	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	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	100	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	150	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	-108632.98	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	001736,2156.615,-15947.236,36,1.3,42,9.8	TGT_LATLONG	2154.185,-15941.805
_CALLS	3	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.342,-0.150
_XMS_TOUTs	0	KALMAN_X	-165669.6,214.0,-553.1,160313.5,-2926.2
_SM_DEPTHo	1.10	KALMAN_Y	71901.7,-331.8,295.4,-69824.7,1325.2
_SM_ANGLEo	-54.5	MHEAD_RNG_PITCHd_Wd	103.9,11150,-19.7,-15.000
GPS2	003038,2156.818,-15947.641,15,1.4,15,9.8	D_GRID	450
SPEED_LIMITS	0.150,0.374	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobNE

FINISH	0.4,1.022989	MM_CLLLayer	0.03
SM_CCo	6051,0.00,0.000,0,0,791,521.51	MM_CfgFile	0.30
SM_GC	1.20,11.48,0.00,0.00,0.030,0.000,0.000,403,1952,791,-9.78,-0.51,521.51	_24V_AH	23.9,24.801
IRIDIUM_FIX	2145.77,-15955.46,021198,000034	_10V_AH	10.1,10.938
TT8_MAMPS	0.056758	DATA_FILE_SIZE	18974,560
HUMID	2073	CAP_FILE_SIZE	96593,0
INTERNAL_PRESSURE	7.50029	CFSIZE	260165632,247029760
TCM_TEMP	23.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	080809,021307,2156.960,-15947.228,9,1.6,10,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	170	104.28	SBE_CT	383	24	220.04
Roll_motor	89	162	349.66	nil	0	0	0.00
VBD_pump_during_apogee	659	862	13604.29	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	181.99	nil	0	0	0.00
Iridium_during_connect	117	160	449.58	GUMSTIX	162	1000	3881.03
Iridium_during_xfer	342	223	1827.58
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	130	1000	3117.42
GPS	15	50	8.04
TT8	1098	18	199.63
LPSleep	3193	0	12.58
TT8_Active	712	18	129.61
TT8_Sampling	1057	38	405.69
TT8_CF8	788	44	350.31
TT8_Kalman	33	80	26.93
Analog_circuits	1406	12	170.53
GPS_charging	0	0	0.00
Compass	1021	8	82.56
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	13	begin dive
16	-1.81	-243.3	0.0	0.0	0	110	0.00	0.00	-90.65	0.000	2	0.000	0.000	404	2002	3250
113	-1.81	-243.3	3.2	-5.8	15	139	10.07	0.00	-11.88	0.000	6	0.170	0.000	2140	2003	3911
207	-1.81	-243.3	28.1	-24.5	28	208	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2004	3912
269	-1.81	-243.3	43.5	-23.8	34	271	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2004	3912
333	-1.81	-243.3	56.5	-20.3	40	337	0.00	2.58	0.00	0.000	4	0.000	0.055	2140	563	3912
384	-1.81	-243.3	67.3	-21.4	44	388	0.00	2.35	0.00	0.000	6	0.000	0.029	2140	1964	3912
454	-1.81	-243.3	81.5	-20.4	50	458	0.00	2.47	0.00	0.000	4	0.000	0.049	2140	3370	3912
482	-1.81	-243.3	88.0	-23.0	52	486	0.00	2.40	0.00	0.000	6	0.000	0.034	2141	1966	3912
552	-1.81	-243.3	102.5	-20.3	58	553	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1966	3912
616	-1.81	-243.3	114.1	-17.8	64	620	0.00	2.47	0.00	0.000	4	0.000	0.050	2140	3361	3912
659	-1.81	-243.3	123.1	-19.9	67	667	0.00	2.38	0.00	0.000	6	0.000	0.035	2140	1971	3913
730	-1.81	-243.3	136.3	-19.3	74	731	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1970	3913
793	-1.81	-243.3	148.3	-18.9	80	795	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1971	3913
857	-1.81	-243.3	159.9	-18.5	86	859	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1971	3913
921	-1.81	-243.3	170.8	-17.3	92	922	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	1971	3913
985	-1.81	-243.3	181.5	-16.5	98	986	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1970	3914
1049	-1.81	-243.3	191.3	-14.7	104	1050	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1970	3914
1112	-1.81	-243.3	200.6	-14.8	110	1117	0.00	2.47	0.00	0.000	4	0.000	0.051	2140	3366	3914
1145	-1.81	-243.3	206.1	-16.6	112	1152	0.00	2.40	0.00	0.000	6	0.000	0.036	2141	1967	3914
1215	-1.81	-243.3	218.0	-17.8	119	1216	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1967	3914
1279	-1.81	-243.3	229.1	-16.6	125	1280	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1967	3914
1343	-1.81	-243.3	239.3	-15.7	131	1344	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1967	3914
1407	-1.81	-243.3	248.8	-14.6	137	1408	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	1967	3914
1470	-1.81	-243.3	257.6	-13.9	143	1472	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1967	3914
1534	-1.81	-243.3	268.0	-17.1	149	1535	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	1967	3914
1598	-1.81	-243.3	278.6	-16.0	155	1602	0.00	2.55	0.00	0.000	4	0.000	0.065	2140	572	3913
1637	-1.81	-243.3	285.2	-16.6	158	1642	0.00	2.38	0.00	0.000	6	0.000	0.032	2140	1970	3913
1707	-1.81	-243.3	297.7	-17.9	164	1709	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1974	3913
1771	-1.81	-243.3	308.4	-16.8	170	1775	0.00	2.55	0.00	0.000	4	0.000	0.063	2140	573	3912
1825	-1.81	-243.3	317.3	-16.5	174	1832	0.00	2.38	0.00	0.000	6	0.000	0.034	2140	1966	3912
2023	-1.81	-243.3	348.0	-15.5	193	2024	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1971	3911
2214	-1.81	-243.3	377.5	-15.2	211	2215	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1971	3909
2406	-1.81	-243.3	406.0	-14.6	229	2410	0.00	2.55	0.00	0.000	4	0.000	0.061	2140	3369	3907
2457	-1.81	-243.3	413.4	-14.8	233	2461	0.00	2.45	0.00	0.000	6	0.000	0.041	2140	1965	3906
2654	-1.81	-243.3	443.0	-15.2	251	2655	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	1965	3904
2705	end dive: TARGET_DEPTH_EXCEEDED
state	2705	begin apogee
2710	-0.38	0.0	451.1	15.6	256	2923	1.58	0.00	206.43	0.863	6	0.107	0.000	2452	1964	2917
2924	end apogee: CONTROL_FINISHED_OK
state	2924	begin climb
2926	1.81	243.3	459.2	0.0	277	3147	2.22	2.70	208.65	0.833	4	0.061	0.064	2939	3396	1925
3287	1.81	243.3	410.9	17.1	308	3294	0.00	2.50	0.00	0.000	6	0.000	0.042	2939	1991	1917
3485	1.85	276.5	381.6	13.6	327	3516	0.00	0.00	28.80	0.785	6	0.000	0.000	2939	1991	1789
3707	1.89	306.3	351.2	13.8	348	3741	0.00	2.62	26.88	0.776	4	0.000	0.061	2939	3390	1667
3810	1.94	346.5	336.7	13.3	357	3856	0.12	2.47	36.33	0.788	6	0.052	0.042	2976	1992	1503
4046	1.94	346.5	300.2	15.4	379	4050	0.00	2.62	0.00	0.000	4	0.000	0.071	2976	589	1496
4074	1.94	346.5	295.8	15.7	381	4078	0.00	2.45	0.00	0.000	6	0.000	0.037	2976	1998	1495
4143	1.94	346.5	284.7	15.7	387	4145	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2001	1494
4207	1.94	346.5	275.2	15.2	393	4208	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2002	1493
4271	1.95	355.4	265.9	14.6	399	4282	0.00	0.00	7.28	0.656	6	0.000	0.000	2975	2002	1468
4345	1.96	367.3	254.9	14.5	406	4359	0.00	0.00	11.93	0.712	6	0.000	0.000	2976	2003	1419
4418	1.96	367.3	243.4	16.6	413	4419	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2003	1417
4482	1.96	367.3	233.2	16.0	419	4483	0.00	0.00	0.00	0.000	6	0.000	0.000	2975	2003	1415
4546	1.96	367.3	222.1	17.1	425	4550	0.00	2.62	0.00	0.000	4	0.000	0.067	2975	588	1415
4578	1.96	367.3	216.3	17.1	427	4585	0.00	2.45	0.00	0.000	6	0.000	0.036	2976	1998	1414
4648	1.96	367.3	204.7	17.8	434	4649	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2000	1414
4712	1.96	367.3	194.3	16.0	440	4716	0.00	2.55	0.00	0.000	4	0.000	0.061	2976	3396	1413
4763	2.02	414.0	187.0	13.1	444	4810	0.00	2.47	40.95	0.729	6	0.000	0.040	2976	1990	1229
4871	2.02	414.0	172.7	15.2	454	4876	0.00	2.60	0.00	0.000	4	0.000	0.067	2978	589	1225
4904	2.02	414.0	166.6	18.2	456	4911	0.00	2.45	0.00	0.000	6	0.000	0.035	2976	2003	1224
4974	2.02	414.0	155.5	15.5	463	4976	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2003	1223
5039	2.04	429.3	146.1	14.4	469	5058	0.00	0.00	13.68	0.659	6	0.000	0.000	2976	2007	1166
5122	2.05	435.6	134.0	14.7	477	5135	0.00	2.65	6.50	0.570	4	0.000	0.062	2975	582	1140
5181	2.05	435.6	124.0	18.2	482	5185	0.00	2.45	0.00	0.000	6	0.000	0.033	2976	2003	1139
5251	2.05	435.6	112.2	16.8	488	5252	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2003	1138
5314	2.05	435.6	101.4	17.3	494	5315	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2003	1138
5378	2.05	435.6	90.4	17.5	500	5382	0.00	2.53	0.00	0.000	4	0.000	0.058	2976	3397	1137
5417	2.05	435.6	83.3	18.4	503	5421	0.00	2.45	0.00	0.000	6	0.000	0.037	2976	1990	1137
5487	2.05	435.6	72.3	16.0	509	5491	0.00	2.58	0.00	0.000	4	0.000	0.063	2976	582	1136
5515	2.05	435.6	67.7	17.0	511	5519	0.00	2.42	0.00	0.000	6	0.000	0.031	2976	2002	1136
5585	2.05	435.6	57.0	15.2	517	5589	0.00	2.50	0.00	0.000	4	0.000	0.056	2976	3390	1136
5614	2.05	435.6	52.8	15.4	519	5619	0.00	2.42	0.00	0.000	6	0.000	0.035	2976	1991	1135
5685	2.07	457.4	42.7	14.1	525	5709	0.00	2.65	19.20	0.612	4	0.000	0.061	2976	585	1051
5778	2.15	519.5	30.2	12.4	533	5838	0.15	2.40	53.08	0.595	6	0.040	0.030	3025	2003	798
5906	2.15	519.5	10.2	17.8	549	5912	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2003	796
5955	end climb: SURFACE_DEPTH_REACHED
state	5955	begin surface coast
5968	end surface coast: CONTROL_FINISHED_OK
state	5968	begin surface