Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 62 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 21 ESCAPE_HEADING 180 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 62 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 10 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 3050 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 17 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 INT_PRESSURE_YINT 1.4

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 325 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 220 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 275 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -87222.188 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 175 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 428 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2946 PRESSURE_YINT -8.3219604 SEABIRD_T_G 0.0043077655

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063814409

MASS 51726 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4031482e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4698193e-06

FERRY_MAX 45 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826059

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1260695

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0021108589

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021799213

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 PITCH_GAIN 10 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3730 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 428 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 660 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.3219604 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 220

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -87222.188

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 275

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 325 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 118 ROLL_DEG 10 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2946 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 3050 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2500 MASS 51726 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 175 R_STBD_OVSHOOT 45 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 21 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4698193e-06 XPDR_DEVICE -1

DIVE 62 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 130057,2154.039,-15943.303,27,99.0,47,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 2000.000

_XMS_NAKs 21 KALMAN_CONTROL 0.266,-0.085

_XMS_TOUTs 0 KALMAN_X -104769.7,906.8,31.0,100959.8,-3378.9

_SM_DEPTHo 0.26 KALMAN_Y 46247.1,-275.0,-125.5,-49469.9,1086.8

_SM_ANGLEo -59.1 MHEAD_RNG_PITCHd_Wd 97.9,2524,-16.8,-10.000

GPS2 131952,2154.132,-15943.629,12,2.8,31,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.279 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.2,1.022856 MM_CLLLayer 0.03

SM_CCo 11748,1.15,0.075,0,0,1306,400.08 MM_CfgFile 0.30

SM_GC 1.20,0.00,0.00,1.15,0.000,0.000,0.075,416,2519,1306,-11.64,0.54,400.08 _24V_AH 23.8,25.993

IRIDIUM_FIX 2148.09,-15942.95,281098,090946 _10V_AH 10.1,28.088

TT8_MAMPS 0.075933 DATA_FILE_SIZE 34650,1036

HUMID 1792 CAP_FILE_SIZE 403597,0

INTERNAL_PRESSURE 10.0038 CFSIZE -70647808,-96403456

TCM_TEMP 24.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 030809,163821,2153.779,-15942.980,39,5.7,59,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 127 83.79 SBE_CT 719 24 410.86

Roll_motor 25 57 35.46 nil 0 0 0.00

VBD_pump_during_apogee 461 953 10471.65 nil 0 0 0.00

VBD_pump_during_surface 1 75 2.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 76.43 nil 0 0 0.00

Iridium_during_connect 24 160 93.31 GUMSTIX 196 1000 4673.37

Iridium_during_xfer 699 223 3711.60

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 360 1000 8571.38

GPS 32 50 16.49

TT8 2184 18 397.23

LPSleep 5245 0 20.66

TT8_Active 567 18 103.24

TT8_Sampling 2377 38 912.56

TT8_CF8 2484 44 1104.21

TT8_Kalman 33 80 26.95

Analog_circuits 1835 12 222.45

GPS_charging 0 0 0.00

Compass 2281 8 184.37

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

25 -1.89 -170.3 0.0 0.0 0 104 0.00 0.00 -76.45 0.000 2 0.000 0.000 418 2525 3548

110 -1.89 -170.3 4.5 -11.5 11 126 11.02 0.00 -1.17 0.000 6 0.127 0.000 2528 2525 3635

199 -1.89 -170.3 34.9 -20.9 20 206 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2525 3636

278 -1.89 -170.3 48.9 -17.8 27 284 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2525 3636

356 -1.89 -170.3 61.6 -16.0 34 360 0.00 0.57 0.00 0.000 4 0.000 0.038 2528 2132 3637

394 -1.89 -170.3 68.4 -16.3 37 397 0.00 0.52 0.00 0.000 6 0.000 0.025 2528 2531 3637

473 -1.89 -170.3 80.3 -14.6 44 476 0.00 0.38 0.00 0.000 4 0.000 0.033 2528 2830 3637

560 -1.89 -170.3 94.7 -15.2 51 567 0.00 0.50 0.00 0.000 6 0.000 0.034 2528 2482 3638

638 -1.89 -170.3 105.5 -15.0 58 645 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2482 3638

717 -1.89 -170.3 116.3 -13.2 65 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2482 3639

796 -1.89 -170.3 125.8 -11.7 72 800 0.00 0.47 0.00 0.000 4 0.000 0.032 2528 2824 3638

1092 -1.89 -170.3 167.3 -14.4 97 1096 0.00 0.47 0.00 0.000 6 0.000 0.035 2528 2495 3638

1171 -1.89 -170.3 179.6 -14.3 104 1178 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2496 3638

1250 -1.89 -170.3 190.1 -14.2 111 1256 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2495 3638

1329 -1.89 -170.3 201.5 -14.6 118 1335 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2495 3638

1407 -1.89 -170.3 212.9 -14.5 125 1414 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2495 3638

1486 -1.89 -170.3 224.1 -14.7 132 1489 0.00 0.47 0.00 0.000 4 0.000 0.033 2528 2831 3637

1844 -1.89 -170.3 271.9 -13.7 162 1851 0.00 0.47 0.00 0.000 6 0.000 0.036 2528 2506 3636

1918 -1.89 -170.3 283.0 -14.7 169 1924 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2506 3636

1996 -1.89 -170.3 293.7 -14.6 176 2000 0.00 0.45 0.00 0.000 4 0.000 0.037 2528 2817 3636

2354 -1.89 -170.3 345.8 -13.5 206 2361 0.00 0.47 0.00 0.000 6 0.000 0.039 2528 2501 3634

2559 -1.89 -170.3 374.6 -14.3 225 2563 0.00 0.47 0.00 0.000 4 0.000 0.038 2528 2823 3633

2797 -1.89 -170.3 405.1 -12.3 245 2804 0.00 0.50 0.00 0.000 6 0.000 0.040 2528 2495 3632

3002 -1.89 -170.3 427.7 -11.5 264 3006 0.00 0.47 0.00 0.000 4 0.000 0.040 2528 2817 3630

3361 -1.89 -170.3 471.3 -12.5 294 3368 0.00 0.50 0.00 0.000 6 0.000 0.044 2528 2495 3627

3567 -1.89 -170.3 496.3 -11.8 313 3570 0.00 0.47 0.00 0.000 4 0.000 0.041 2528 2813 3625

3924 -1.89 -170.3 537.3 -12.1 343 3931 0.00 0.47 0.00 0.000 6 0.000 0.046 2528 2503 3622

4125 -1.89 -170.3 561.4 -11.4 362 4129 0.00 0.47 0.00 0.000 4 0.000 0.044 2528 2817 3621

4483 -1.89 -170.3 599.9 -10.4 392 4490 0.00 0.50 0.00 0.000 6 0.000 0.050 2528 2503 3618

4690 -1.89 -170.3 620.2 -9.6 411 4693 0.00 0.47 0.00 0.000 4 0.000 0.049 2528 2808 3616

5048 -1.89 -170.3 653.7 -9.1 441 5055 0.00 0.50 0.00 0.000 6 0.000 0.054 2528 2503 3613

5116 end dive: TARGET_DEPTH_EXCEEDED

state 5116 begin apogee

5129 -0.50 0.0 660.8 9.4 448 5274 1.42 0.00 132.23 0.953 6 0.069 0.000 2833 3004 2938

5275 end apogee: CONTROL_FINISHED_OK

state 5275 begin climb

5281 1.89 170.3 665.2 0.0 462 5431 2.33 0.52 136.15 0.930 4 0.043 0.050 3365 2697 2242

5680 1.95 213.1 637.9 8.3 495 5723 0.00 0.57 35.58 0.891 6 0.000 0.051 3365 3053 2067

5919 1.95 213.1 613.7 11.0 517 5922 0.00 0.55 0.00 0.000 4 0.000 0.058 3365 3382 2064

6272 1.95 213.1 577.3 10.4 547 6276 0.00 0.55 0.00 0.000 6 0.000 0.038 3365 3042 2062

6485 1.95 213.1 556.1 10.4 566 6491 0.00 0.00 0.00 0.000 6 0.000 0.000 3365 3042 2061

6686 1.95 213.1 534.5 11.5 585 6689 0.00 0.60 0.00 0.000 4 0.000 0.052 3365 3385 2060

7043 1.95 213.1 492.3 11.1 615 7050 0.00 0.55 0.00 0.000 6 0.000 0.036 3365 3050 2059

7250 1.95 213.1 470.3 11.1 634 7254 0.00 0.50 0.00 0.000 4 0.000 0.042 3365 2706 2058

7496 1.95 213.1 441.8 10.5 655 7500 0.00 0.55 0.00 0.000 6 0.000 0.044 3365 3059 2058

7708 1.95 213.1 420.4 10.5 674 7711 0.00 0.52 0.00 0.000 4 0.000 0.051 3365 3381 2057

7923 1.95 213.8 399.5 10.0 692 7927 0.00 0.52 0.00 0.000 6 0.000 0.035 3365 3044 2057

8136 1.98 237.3 378.7 9.1 711 8162 0.00 0.00 18.98 0.762 6 0.000 0.000 3365 3044 1968

8361 2.01 263.9 356.6 9.0 732 8388 0.00 0.00 23.12 0.751 6 0.000 0.000 3364 3044 1860

8586 2.01 263.9 333.4 10.3 753 8590 0.00 0.57 0.00 0.000 4 0.000 0.047 3365 3383 1857

8945 2.01 263.9 294.2 12.6 783 8952 0.00 0.52 0.00 0.000 6 0.000 0.031 3365 3042 1856

9018 2.01 263.9 285.2 11.7 790 9022 0.00 0.57 0.00 0.000 4 0.000 0.044 3365 3384 1856

9085 2.01 263.9 278.1 12.2 795 9088 0.00 0.52 0.00 0.000 6 0.000 0.032 3365 3042 1855

9164 2.01 263.9 267.8 12.2 802 9167 0.00 0.47 0.00 0.000 4 0.000 0.035 3365 2698 1856

9281 2.01 263.9 252.5 12.4 812 9285 0.00 0.55 0.00 0.000 6 0.000 0.039 3365 3062 1856

9360 2.01 263.9 243.2 11.9 819 9363 0.00 0.50 0.00 0.000 4 0.000 0.045 3365 3379 1855

9525 2.01 263.9 225.5 10.3 833 9528 0.00 0.50 0.00 0.000 6 0.000 0.030 3365 3044 1855

9604 2.01 266.3 217.7 9.9 840 9610 0.00 0.00 0.00 0.000 6 0.000 0.000 3365 3044 1855

9684 2.03 277.7 210.8 9.6 847 9701 0.00 0.00 12.05 0.609 6 0.000 0.000 3365 3042 1804

9767 2.03 277.7 201.5 10.7 855 9774 0.00 0.00 0.00 0.000 6 0.000 0.000 3365 3039 1802

9847 2.03 277.7 193.8 10.1 862 9853 0.00 0.00 0.00 0.000 6 0.000 0.000 3365 3039 1801

9925 2.03 277.7 185.4 10.7 869 9929 0.00 0.45 0.00 0.000 4 0.000 0.033 3367 2711 1801

10048 2.03 277.7 172.8 10.2 879 10055 0.00 0.52 0.00 0.000 6 0.000 0.037 3366 3062 1801

10122 2.04 291.4 165.8 9.5 886 10138 0.10 0.50 12.40 0.571 4 0.051 0.039 3399 3379 1749

10411 2.04 291.4 133.6 10.5 911 10414 0.00 0.47 0.00 0.000 6 0.000 0.028 3400 3041 1747

10490 2.04 291.4 125.3 10.6 918 10496 0.00 0.00 0.00 0.000 6 0.000 0.000 3400 3041 1746

10569 2.04 291.4 117.8 10.1 925 10573 0.00 0.55 0.00 0.000 4 0.000 0.039 3399 3383 1746

10925 2.04 291.4 78.9 10.4 955 10932 0.00 0.47 0.00 0.000 6 0.000 0.027 3400 3053 1747

10999 2.10 340.7 72.0 8.1 962 11047 0.00 0.57 41.88 0.521 4 0.000 0.036 3402 3385 1547

11147 2.10 340.7 57.7 10.5 974 11151 0.00 0.50 0.00 0.000 6 0.000 0.026 3400 3039 1543

11226 2.11 347.0 49.9 9.8 981 11234 0.00 0.00 6.12 0.401 6 0.000 0.000 3400 3038 1522

11300 2.13 362.5 42.9 9.4 988 11317 0.00 0.00 14.15 0.458 6 0.000 0.000 3400 3038 1458

11384 2.17 395.5 35.5 8.7 996 11420 0.00 0.43 28.85 0.471 4 0.000 0.026 3399 2720 1323

11481 2.17 395.5 25.5 10.8 1004 11485 0.00 0.47 0.00 0.000 6 0.000 0.032 3400 3051 1320

11559 2.17 395.5 17.0 10.4 1012 11565 0.00 0.00 0.00 0.000 6 0.000 0.000 3399 3051 1319

11644 2.17 395.5 7.1 11.5 1025 11651 0.00 0.00 0.00 0.000 6 0.000 0.000 3400 3051 1318

11666 end climb: SURFACE_DEPTH_REACHED

state 11666 begin surface coast

11709 end surface coast: CONTROL_FINISHED_OK

state 11709 begin surface

ID	118	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	21	ESCAPE_HEADING	180	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	62	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	10	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	3050	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	17	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	INT_PRESSURE_YINT	1.4
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	325	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	220	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	275	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-87222.188	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	175	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	428	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2946	PRESSURE_YINT	-8.3219604	SEABIRD_T_G	0.0043077655
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063814409
MASS	51726	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4031482e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4698193e-06
FERRY_MAX	45	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826059
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1260695
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0021108589
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021799213
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	130057,2154.039,-15943.303,27,99.0,47,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	2000.000
_XMS_NAKs	21	KALMAN_CONTROL	0.266,-0.085
_XMS_TOUTs	0	KALMAN_X	-104769.7,906.8,31.0,100959.8,-3378.9
_SM_DEPTHo	0.26	KALMAN_Y	46247.1,-275.0,-125.5,-49469.9,1086.8
_SM_ANGLEo	-59.1	MHEAD_RNG_PITCHd_Wd	97.9,2524,-16.8,-10.000
GPS2	131952,2154.132,-15943.629,12,2.8,31,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.279	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.2,1.022856	MM_CLLLayer	0.03
SM_CCo	11748,1.15,0.075,0,0,1306,400.08	MM_CfgFile	0.30
SM_GC	1.20,0.00,0.00,1.15,0.000,0.000,0.075,416,2519,1306,-11.64,0.54,400.08	_24V_AH	23.8,25.993
IRIDIUM_FIX	2148.09,-15942.95,281098,090946	_10V_AH	10.1,28.088
TT8_MAMPS	0.075933	DATA_FILE_SIZE	34650,1036
HUMID	1792	CAP_FILE_SIZE	403597,0
INTERNAL_PRESSURE	10.0038	CFSIZE	-70647808,-96403456
TCM_TEMP	24.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	030809,163821,2153.779,-15942.980,39,5.7,59,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	127	83.79	SBE_CT	719	24	410.86
Roll_motor	25	57	35.46	nil	0	0	0.00
VBD_pump_during_apogee	461	953	10471.65	nil	0	0	0.00
VBD_pump_during_surface	1	75	2.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	76.43	nil	0	0	0.00
Iridium_during_connect	24	160	93.31	GUMSTIX	196	1000	4673.37
Iridium_during_xfer	699	223	3711.60
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	360	1000	8571.38
GPS	32	50	16.49
TT8	2184	18	397.23
LPSleep	5245	0	20.66
TT8_Active	567	18	103.24
TT8_Sampling	2377	38	912.56
TT8_CF8	2484	44	1104.21
TT8_Kalman	33	80	26.95
Analog_circuits	1835	12	222.45
GPS_charging	0	0	0.00
Compass	2281	8	184.37
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
25	-1.89	-170.3	0.0	0.0	0	104	0.00	0.00	-76.45	0.000	2	0.000	0.000	418	2525	3548
110	-1.89	-170.3	4.5	-11.5	11	126	11.02	0.00	-1.17	0.000	6	0.127	0.000	2528	2525	3635
199	-1.89	-170.3	34.9	-20.9	20	206	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2525	3636
278	-1.89	-170.3	48.9	-17.8	27	284	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2525	3636
356	-1.89	-170.3	61.6	-16.0	34	360	0.00	0.57	0.00	0.000	4	0.000	0.038	2528	2132	3637
394	-1.89	-170.3	68.4	-16.3	37	397	0.00	0.52	0.00	0.000	6	0.000	0.025	2528	2531	3637
473	-1.89	-170.3	80.3	-14.6	44	476	0.00	0.38	0.00	0.000	4	0.000	0.033	2528	2830	3637
560	-1.89	-170.3	94.7	-15.2	51	567	0.00	0.50	0.00	0.000	6	0.000	0.034	2528	2482	3638
638	-1.89	-170.3	105.5	-15.0	58	645	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2482	3638
717	-1.89	-170.3	116.3	-13.2	65	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2482	3639
796	-1.89	-170.3	125.8	-11.7	72	800	0.00	0.47	0.00	0.000	4	0.000	0.032	2528	2824	3638
1092	-1.89	-170.3	167.3	-14.4	97	1096	0.00	0.47	0.00	0.000	6	0.000	0.035	2528	2495	3638
1171	-1.89	-170.3	179.6	-14.3	104	1178	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2496	3638
1250	-1.89	-170.3	190.1	-14.2	111	1256	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2495	3638
1329	-1.89	-170.3	201.5	-14.6	118	1335	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2495	3638
1407	-1.89	-170.3	212.9	-14.5	125	1414	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2495	3638
1486	-1.89	-170.3	224.1	-14.7	132	1489	0.00	0.47	0.00	0.000	4	0.000	0.033	2528	2831	3637
1844	-1.89	-170.3	271.9	-13.7	162	1851	0.00	0.47	0.00	0.000	6	0.000	0.036	2528	2506	3636
1918	-1.89	-170.3	283.0	-14.7	169	1924	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2506	3636
1996	-1.89	-170.3	293.7	-14.6	176	2000	0.00	0.45	0.00	0.000	4	0.000	0.037	2528	2817	3636
2354	-1.89	-170.3	345.8	-13.5	206	2361	0.00	0.47	0.00	0.000	6	0.000	0.039	2528	2501	3634
2559	-1.89	-170.3	374.6	-14.3	225	2563	0.00	0.47	0.00	0.000	4	0.000	0.038	2528	2823	3633
2797	-1.89	-170.3	405.1	-12.3	245	2804	0.00	0.50	0.00	0.000	6	0.000	0.040	2528	2495	3632
3002	-1.89	-170.3	427.7	-11.5	264	3006	0.00	0.47	0.00	0.000	4	0.000	0.040	2528	2817	3630
3361	-1.89	-170.3	471.3	-12.5	294	3368	0.00	0.50	0.00	0.000	6	0.000	0.044	2528	2495	3627
3567	-1.89	-170.3	496.3	-11.8	313	3570	0.00	0.47	0.00	0.000	4	0.000	0.041	2528	2813	3625
3924	-1.89	-170.3	537.3	-12.1	343	3931	0.00	0.47	0.00	0.000	6	0.000	0.046	2528	2503	3622
4125	-1.89	-170.3	561.4	-11.4	362	4129	0.00	0.47	0.00	0.000	4	0.000	0.044	2528	2817	3621
4483	-1.89	-170.3	599.9	-10.4	392	4490	0.00	0.50	0.00	0.000	6	0.000	0.050	2528	2503	3618
4690	-1.89	-170.3	620.2	-9.6	411	4693	0.00	0.47	0.00	0.000	4	0.000	0.049	2528	2808	3616
5048	-1.89	-170.3	653.7	-9.1	441	5055	0.00	0.50	0.00	0.000	6	0.000	0.054	2528	2503	3613
5116	end dive: TARGET_DEPTH_EXCEEDED
state	5116	begin apogee
5129	-0.50	0.0	660.8	9.4	448	5274	1.42	0.00	132.23	0.953	6	0.069	0.000	2833	3004	2938
5275	end apogee: CONTROL_FINISHED_OK
state	5275	begin climb
5281	1.89	170.3	665.2	0.0	462	5431	2.33	0.52	136.15	0.930	4	0.043	0.050	3365	2697	2242
5680	1.95	213.1	637.9	8.3	495	5723	0.00	0.57	35.58	0.891	6	0.000	0.051	3365	3053	2067
5919	1.95	213.1	613.7	11.0	517	5922	0.00	0.55	0.00	0.000	4	0.000	0.058	3365	3382	2064
6272	1.95	213.1	577.3	10.4	547	6276	0.00	0.55	0.00	0.000	6	0.000	0.038	3365	3042	2062
6485	1.95	213.1	556.1	10.4	566	6491	0.00	0.00	0.00	0.000	6	0.000	0.000	3365	3042	2061
6686	1.95	213.1	534.5	11.5	585	6689	0.00	0.60	0.00	0.000	4	0.000	0.052	3365	3385	2060
7043	1.95	213.1	492.3	11.1	615	7050	0.00	0.55	0.00	0.000	6	0.000	0.036	3365	3050	2059
7250	1.95	213.1	470.3	11.1	634	7254	0.00	0.50	0.00	0.000	4	0.000	0.042	3365	2706	2058
7496	1.95	213.1	441.8	10.5	655	7500	0.00	0.55	0.00	0.000	6	0.000	0.044	3365	3059	2058
7708	1.95	213.1	420.4	10.5	674	7711	0.00	0.52	0.00	0.000	4	0.000	0.051	3365	3381	2057
7923	1.95	213.8	399.5	10.0	692	7927	0.00	0.52	0.00	0.000	6	0.000	0.035	3365	3044	2057
8136	1.98	237.3	378.7	9.1	711	8162	0.00	0.00	18.98	0.762	6	0.000	0.000	3365	3044	1968
8361	2.01	263.9	356.6	9.0	732	8388	0.00	0.00	23.12	0.751	6	0.000	0.000	3364	3044	1860
8586	2.01	263.9	333.4	10.3	753	8590	0.00	0.57	0.00	0.000	4	0.000	0.047	3365	3383	1857
8945	2.01	263.9	294.2	12.6	783	8952	0.00	0.52	0.00	0.000	6	0.000	0.031	3365	3042	1856
9018	2.01	263.9	285.2	11.7	790	9022	0.00	0.57	0.00	0.000	4	0.000	0.044	3365	3384	1856
9085	2.01	263.9	278.1	12.2	795	9088	0.00	0.52	0.00	0.000	6	0.000	0.032	3365	3042	1855
9164	2.01	263.9	267.8	12.2	802	9167	0.00	0.47	0.00	0.000	4	0.000	0.035	3365	2698	1856
9281	2.01	263.9	252.5	12.4	812	9285	0.00	0.55	0.00	0.000	6	0.000	0.039	3365	3062	1856
9360	2.01	263.9	243.2	11.9	819	9363	0.00	0.50	0.00	0.000	4	0.000	0.045	3365	3379	1855
9525	2.01	263.9	225.5	10.3	833	9528	0.00	0.50	0.00	0.000	6	0.000	0.030	3365	3044	1855
9604	2.01	266.3	217.7	9.9	840	9610	0.00	0.00	0.00	0.000	6	0.000	0.000	3365	3044	1855
9684	2.03	277.7	210.8	9.6	847	9701	0.00	0.00	12.05	0.609	6	0.000	0.000	3365	3042	1804
9767	2.03	277.7	201.5	10.7	855	9774	0.00	0.00	0.00	0.000	6	0.000	0.000	3365	3039	1802
9847	2.03	277.7	193.8	10.1	862	9853	0.00	0.00	0.00	0.000	6	0.000	0.000	3365	3039	1801
9925	2.03	277.7	185.4	10.7	869	9929	0.00	0.45	0.00	0.000	4	0.000	0.033	3367	2711	1801
10048	2.03	277.7	172.8	10.2	879	10055	0.00	0.52	0.00	0.000	6	0.000	0.037	3366	3062	1801
10122	2.04	291.4	165.8	9.5	886	10138	0.10	0.50	12.40	0.571	4	0.051	0.039	3399	3379	1749
10411	2.04	291.4	133.6	10.5	911	10414	0.00	0.47	0.00	0.000	6	0.000	0.028	3400	3041	1747
10490	2.04	291.4	125.3	10.6	918	10496	0.00	0.00	0.00	0.000	6	0.000	0.000	3400	3041	1746
10569	2.04	291.4	117.8	10.1	925	10573	0.00	0.55	0.00	0.000	4	0.000	0.039	3399	3383	1746
10925	2.04	291.4	78.9	10.4	955	10932	0.00	0.47	0.00	0.000	6	0.000	0.027	3400	3053	1747
10999	2.10	340.7	72.0	8.1	962	11047	0.00	0.57	41.88	0.521	4	0.000	0.036	3402	3385	1547
11147	2.10	340.7	57.7	10.5	974	11151	0.00	0.50	0.00	0.000	6	0.000	0.026	3400	3039	1543
11226	2.11	347.0	49.9	9.8	981	11234	0.00	0.00	6.12	0.401	6	0.000	0.000	3400	3038	1522
11300	2.13	362.5	42.9	9.4	988	11317	0.00	0.00	14.15	0.458	6	0.000	0.000	3400	3038	1458
11384	2.17	395.5	35.5	8.7	996	11420	0.00	0.43	28.85	0.471	4	0.000	0.026	3399	2720	1323
11481	2.17	395.5	25.5	10.8	1004	11485	0.00	0.47	0.00	0.000	6	0.000	0.032	3400	3051	1320
11559	2.17	395.5	17.0	10.4	1012	11565	0.00	0.00	0.00	0.000	6	0.000	0.000	3399	3051	1319
11644	2.17	395.5	7.1	11.5	1025	11651	0.00	0.00	0.00	0.000	6	0.000	0.000	3400	3051	1318
11666	end climb: SURFACE_DEPTH_REACHED
state	11666	begin surface coast
11709	end surface coast: CONTROL_FINISHED_OK
state	11709	begin surface