Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 42 * 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 42 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 400 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 150 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 175 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 -107216.79 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 400

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 150

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 -107216.79

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 175

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 34 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 40 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 42 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 194919,2154.062,-15941.642,11,1.6,28,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 400.000

_XMS_NAKs 0 KALMAN_CONTROL 0.134,-0.125

_XMS_TOUTs 0 KALMAN_X -49634.6,1010.0,-73.5,52970.1,-1859.3

_SM_DEPTHo 1.22 KALMAN_Y 12441.6,-351.9,185.8,-15284.0,580.0

_SM_ANGLEo -56.8 MHEAD_RNG_PITCHd_Wd 123.3,854,-26.4,-10.000

GPS2 195714,2154.084,-15941.824,12,2.0,12,9.8 D_GRID 450

SPEED_LIMITS 0.100,0.326 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.4,1.009022 MM_CLLLayer 0.03

SM_CCo 7901,76.45,0.525,0,0,1285,400.08 MM_CfgFile 0.30

SM_GC 1.23,0.00,0.00,76.45,0.000,0.000,0.525,409,1959,1285,-9.81,-0.31,400.08 _24V_AH 23.9,13.311

IRIDIUM_FIX 2145.77,-15940.77,271098,181858 _10V_AH 10.2,5.814

TT8_MAMPS 0.065195 DATA_FILE_SIZE 25259,745

HUMID 1940 CAP_FILE_SIZE 82675,0

INTERNAL_PRESSURE 7.55888 CFSIZE 260165632,253050880

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 020809,221207,2154.217,-15941.957,26,1.4,26,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 181 114.00 SBE_CT 514 24 295.21

Roll_motor 70 81 136.16 nil 0 0 0.00

VBD_pump_during_apogee 295 860 6072.62 nil 0 0 0.00

VBD_pump_during_surface 76 524 958.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 58.26 nil 0 0 0.00

Iridium_during_connect 26 160 99.66 GUMSTIX 112 1000 2687.84

Iridium_during_xfer 284 223 1516.54

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 105 1000 2511.79

GPS 12 50 6.46

TT8 1421 18 261.08

LPSleep 4591 0 18.27

TT8_Active 483 18 88.71

TT8_Sampling 1401 38 543.23

TT8_CF8 567 44 254.58

TT8_Kalman 33 80 27.19

Analog_circuits 1202 12 147.17

GPS_charging 0 0 0.00

Compass 1360 8 111.05

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 -2.12 -70.0 0.0 0.0 0 104 0.00 0.00 -84.00 0.000 6 0.000 0.000 405 1959 3204

107 -2.15 -97.8 3.6 -7.3 14 128 9.98 2.53 -2.15 0.000 4 0.181 0.069 2065 570 3319

162 -2.15 -97.8 20.2 -26.1 23 169 0.00 2.38 0.00 0.000 6 0.000 0.030 2065 1979 3321

359 -2.15 -97.8 63.3 -23.2 42 363 0.00 2.55 0.00 0.000 4 0.000 0.058 2064 569 3321

515 -2.15 -97.8 94.6 -17.9 55 523 0.00 2.35 0.00 0.000 6 0.000 0.030 2065 1962 3322

841 -2.15 -97.8 150.5 -15.9 86 845 0.00 2.50 0.00 0.000 4 0.000 0.051 2065 3374 3324

914 -2.15 -97.8 162.9 -16.9 92 918 0.00 2.40 0.00 0.000 6 0.000 0.035 2065 1971 3324

1240 -2.15 -97.8 209.8 -14.2 122 1244 0.00 2.55 0.00 0.000 4 0.000 0.064 2065 566 3325

1324 -2.15 -97.8 222.0 -14.4 129 1328 0.00 2.40 0.00 0.000 6 0.000 0.033 2065 1975 3325

1650 -2.15 -97.8 270.8 -14.9 159 1651 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 1976 3325

1967 -2.15 -97.8 314.9 -12.5 189 1968 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 1976 3325

2286 -2.15 -97.8 357.7 -13.0 219 2290 0.00 2.60 0.00 0.000 4 0.000 0.068 2065 567 3324

2340 -2.15 -97.8 364.8 -12.1 223 2348 0.00 2.42 0.00 0.000 6 0.000 0.038 2065 1972 3324

2667 -2.15 -97.8 402.6 -12.3 254 2671 0.00 2.53 0.00 0.000 4 0.000 0.063 2065 3366 3321

2717 -2.15 -97.8 409.0 -12.3 258 2722 0.00 2.45 0.00 0.000 6 0.000 0.042 2065 1965 3321

3044 -2.15 -97.8 446.4 -12.4 288 3048 0.00 2.58 0.00 0.000 4 0.000 0.064 2065 3372 3318

3073 end dive: TARGET_DEPTH_EXCEEDED

state 3074 begin apogee

3082 -0.38 0.0 450.5 11.4 290 3173 2.03 0.00 85.47 0.861 6 0.128 0.000 2453 1992 2917

3174 end apogee: CONTROL_FINISHED_OK

state 3174 begin climb

3176 2.15 97.8 453.4 0.0 299 3273 2.58 0.00 86.75 0.838 6 0.061 0.000 3015 1992 2518

3591 2.16 103.0 417.2 9.5 339 3603 0.00 2.62 4.65 0.580 4 0.000 0.068 3016 3389 2497

3855 2.16 103.0 388.4 10.9 362 3862 0.00 2.47 0.00 0.000 6 0.000 0.044 3016 1993 2493

4182 2.16 103.0 354.0 10.2 393 4186 0.00 2.58 0.00 0.000 4 0.000 0.064 3015 3389 2490

4439 2.17 111.8 328.2 9.2 415 4452 0.00 2.47 7.50 0.710 6 0.000 0.044 3015 1991 2461

4770 2.17 111.8 295.8 10.3 446 4775 0.00 2.58 0.00 0.000 4 0.000 0.063 3016 3389 2457

4923 2.19 130.6 281.9 8.2 459 4947 0.00 2.47 16.77 0.779 6 0.000 0.044 3015 1992 2384

5264 2.21 141.5 251.2 9.0 491 5276 0.00 0.00 9.82 0.719 6 0.000 0.000 3015 1992 2340

5594 2.22 148.3 218.6 9.3 522 5607 0.00 2.58 7.00 0.654 4 0.000 0.061 3015 3390 2312

5781 2.22 148.3 197.8 11.9 538 5788 0.00 2.47 0.00 0.000 6 0.000 0.041 3016 1987 2310

6108 2.23 159.9 166.8 8.9 569 6123 0.00 2.60 10.55 0.676 4 0.000 0.058 3015 3391 2265

6168 2.25 178.7 161.5 8.2 574 6191 0.00 2.47 17.27 0.695 6 0.000 0.039 3015 1986 2188

6511 2.25 178.7 126.8 11.0 606 6512 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1986 2183

6829 2.25 178.7 96.9 10.5 636 6834 0.00 2.55 0.00 0.000 4 0.000 0.056 3015 3391 2180

7087 2.25 178.7 69.5 10.6 658 7094 0.00 2.42 0.00 0.000 6 0.000 0.035 3015 1990 2180

7414 2.33 239.3 47.5 4.2 689 7472 0.15 2.60 49.45 0.591 4 0.048 0.061 3059 588 1939

7725 2.33 239.3 17.6 13.0 718 7732 0.00 2.42 0.00 0.000 6 0.000 0.030 3059 2020 1934

7800 2.33 239.3 8.4 12.7 731 7806 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2020 1933

7861 end climb: SURFACE_DEPTH_REACHED

state 7861 begin surface coast

7879 end surface coast: CONTROL_FINISHED_OK

state 7879 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	42	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	400	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	150	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	175	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	-107216.79	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	194919,2154.062,-15941.642,11,1.6,28,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	400.000
_XMS_NAKs	0	KALMAN_CONTROL	0.134,-0.125
_XMS_TOUTs	0	KALMAN_X	-49634.6,1010.0,-73.5,52970.1,-1859.3
_SM_DEPTHo	1.22	KALMAN_Y	12441.6,-351.9,185.8,-15284.0,580.0
_SM_ANGLEo	-56.8	MHEAD_RNG_PITCHd_Wd	123.3,854,-26.4,-10.000
GPS2	195714,2154.084,-15941.824,12,2.0,12,9.8	D_GRID	450
SPEED_LIMITS	0.100,0.326	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.4,1.009022	MM_CLLLayer	0.03
SM_CCo	7901,76.45,0.525,0,0,1285,400.08	MM_CfgFile	0.30
SM_GC	1.23,0.00,0.00,76.45,0.000,0.000,0.525,409,1959,1285,-9.81,-0.31,400.08	_24V_AH	23.9,13.311
IRIDIUM_FIX	2145.77,-15940.77,271098,181858	_10V_AH	10.2,5.814
TT8_MAMPS	0.065195	DATA_FILE_SIZE	25259,745
HUMID	1940	CAP_FILE_SIZE	82675,0
INTERNAL_PRESSURE	7.55888	CFSIZE	260165632,253050880
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	020809,221207,2154.217,-15941.957,26,1.4,26,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	181	114.00	SBE_CT	514	24	295.21
Roll_motor	70	81	136.16	nil	0	0	0.00
VBD_pump_during_apogee	295	860	6072.62	nil	0	0	0.00
VBD_pump_during_surface	76	524	958.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	58.26	nil	0	0	0.00
Iridium_during_connect	26	160	99.66	GUMSTIX	112	1000	2687.84
Iridium_during_xfer	284	223	1516.54
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	105	1000	2511.79
GPS	12	50	6.46
TT8	1421	18	261.08
LPSleep	4591	0	18.27
TT8_Active	483	18	88.71
TT8_Sampling	1401	38	543.23
TT8_CF8	567	44	254.58
TT8_Kalman	33	80	27.19
Analog_circuits	1202	12	147.17
GPS_charging	0	0	0.00
Compass	1360	8	111.05
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	-2.12	-70.0	0.0	0.0	0	104	0.00	0.00	-84.00	0.000	6	0.000	0.000	405	1959	3204
107	-2.15	-97.8	3.6	-7.3	14	128	9.98	2.53	-2.15	0.000	4	0.181	0.069	2065	570	3319
162	-2.15	-97.8	20.2	-26.1	23	169	0.00	2.38	0.00	0.000	6	0.000	0.030	2065	1979	3321
359	-2.15	-97.8	63.3	-23.2	42	363	0.00	2.55	0.00	0.000	4	0.000	0.058	2064	569	3321
515	-2.15	-97.8	94.6	-17.9	55	523	0.00	2.35	0.00	0.000	6	0.000	0.030	2065	1962	3322
841	-2.15	-97.8	150.5	-15.9	86	845	0.00	2.50	0.00	0.000	4	0.000	0.051	2065	3374	3324
914	-2.15	-97.8	162.9	-16.9	92	918	0.00	2.40	0.00	0.000	6	0.000	0.035	2065	1971	3324
1240	-2.15	-97.8	209.8	-14.2	122	1244	0.00	2.55	0.00	0.000	4	0.000	0.064	2065	566	3325
1324	-2.15	-97.8	222.0	-14.4	129	1328	0.00	2.40	0.00	0.000	6	0.000	0.033	2065	1975	3325
1650	-2.15	-97.8	270.8	-14.9	159	1651	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	1976	3325
1967	-2.15	-97.8	314.9	-12.5	189	1968	0.00	0.00	0.00	0.000	6	0.000	0.000	2065	1976	3325
2286	-2.15	-97.8	357.7	-13.0	219	2290	0.00	2.60	0.00	0.000	4	0.000	0.068	2065	567	3324
2340	-2.15	-97.8	364.8	-12.1	223	2348	0.00	2.42	0.00	0.000	6	0.000	0.038	2065	1972	3324
2667	-2.15	-97.8	402.6	-12.3	254	2671	0.00	2.53	0.00	0.000	4	0.000	0.063	2065	3366	3321
2717	-2.15	-97.8	409.0	-12.3	258	2722	0.00	2.45	0.00	0.000	6	0.000	0.042	2065	1965	3321
3044	-2.15	-97.8	446.4	-12.4	288	3048	0.00	2.58	0.00	0.000	4	0.000	0.064	2065	3372	3318
3073	end dive: TARGET_DEPTH_EXCEEDED
state	3074	begin apogee
3082	-0.38	0.0	450.5	11.4	290	3173	2.03	0.00	85.47	0.861	6	0.128	0.000	2453	1992	2917
3174	end apogee: CONTROL_FINISHED_OK
state	3174	begin climb
3176	2.15	97.8	453.4	0.0	299	3273	2.58	0.00	86.75	0.838	6	0.061	0.000	3015	1992	2518
3591	2.16	103.0	417.2	9.5	339	3603	0.00	2.62	4.65	0.580	4	0.000	0.068	3016	3389	2497
3855	2.16	103.0	388.4	10.9	362	3862	0.00	2.47	0.00	0.000	6	0.000	0.044	3016	1993	2493
4182	2.16	103.0	354.0	10.2	393	4186	0.00	2.58	0.00	0.000	4	0.000	0.064	3015	3389	2490
4439	2.17	111.8	328.2	9.2	415	4452	0.00	2.47	7.50	0.710	6	0.000	0.044	3015	1991	2461
4770	2.17	111.8	295.8	10.3	446	4775	0.00	2.58	0.00	0.000	4	0.000	0.063	3016	3389	2457
4923	2.19	130.6	281.9	8.2	459	4947	0.00	2.47	16.77	0.779	6	0.000	0.044	3015	1992	2384
5264	2.21	141.5	251.2	9.0	491	5276	0.00	0.00	9.82	0.719	6	0.000	0.000	3015	1992	2340
5594	2.22	148.3	218.6	9.3	522	5607	0.00	2.58	7.00	0.654	4	0.000	0.061	3015	3390	2312
5781	2.22	148.3	197.8	11.9	538	5788	0.00	2.47	0.00	0.000	6	0.000	0.041	3016	1987	2310
6108	2.23	159.9	166.8	8.9	569	6123	0.00	2.60	10.55	0.676	4	0.000	0.058	3015	3391	2265
6168	2.25	178.7	161.5	8.2	574	6191	0.00	2.47	17.27	0.695	6	0.000	0.039	3015	1986	2188
6511	2.25	178.7	126.8	11.0	606	6512	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1986	2183
6829	2.25	178.7	96.9	10.5	636	6834	0.00	2.55	0.00	0.000	4	0.000	0.056	3015	3391	2180
7087	2.25	178.7	69.5	10.6	658	7094	0.00	2.42	0.00	0.000	6	0.000	0.035	3015	1990	2180
7414	2.33	239.3	47.5	4.2	689	7472	0.15	2.60	49.45	0.591	4	0.048	0.061	3059	588	1939
7725	2.33	239.3	17.6	13.0	718	7732	0.00	2.42	0.00	0.000	6	0.000	0.030	3059	2020	1934
7800	2.33	239.3	8.4	12.7	731	7806	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2020	1933
7861	end climb: SURFACE_DEPTH_REACHED
state	7861	begin surface coast
7879	end surface coast: CONTROL_FINISHED_OK
state	7879	begin surface