Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 63 * 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 63 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 660 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 220 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 275 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 -107698.28 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 225 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 660 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 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 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -107698.28

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 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 117 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3825 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2542 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 1994 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1970 MASS 51956 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 225 R_STBD_OVSHOOT 37 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 63 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 061208,2154.099,-15941.892,13,1.5,13,9.8 TGT_LATLONG 2153.790,-15942.207

_CALLS 1 TGT_RADIUS 1000.000

_XMS_NAKs 4 KALMAN_CONTROL 0.101,-0.028

_XMS_TOUTs 0 KALMAN_X -71837.7,-1245.7,-85.7,77054.7,-1606.3

_SM_DEPTHo 1.19 KALMAN_Y 24692.6,705.8,210.7,-28583.5,-211.4

_SM_ANGLEo -47.0 MHEAD_RNG_PITCHd_Wd 95.6,637,-42.1,-10.000

GPS2 062020,2154.102,-15942.051,13,1.4,13,9.8 D_GRID 660

SPEED_LIMITS 0.100,0.311 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobSW

Post-dive calculations and measurements:

FINISH 0.6,1.022205 MM_CLLLayer 0.03

SM_CCo 10855,95.07,0.544,0,0,1286,400.08 MM_CfgFile 0.30

SM_GC 1.44,0.00,0.00,95.07,0.000,0.000,0.544,405,1958,1286,-9.83,-0.34,400.08 _24V_AH 23.8,16.338

IRIDIUM_FIX 2145.77,-15942.95,291098,040456 _10V_AH 10.1,7.054

TT8_MAMPS 0.082069 DATA_FILE_SIZE 31603,991

HUMID 1995 CAP_FILE_SIZE 139679,0

INTERNAL_PRESSURE 7.52959 CFSIZE 260165632,251445248

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 040809,092501,2154.411,-15941.954,40,1.8,40,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 179 121.95 SBE_CT 698 24 398.72

Roll_motor 165 73 289.50 nil 0 0 0.00

VBD_pump_during_apogee 234 1063 5929.89 nil 0 0 0.00

VBD_pump_during_surface 95 543 1230.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 75.96 nil 0 0 0.00

Iridium_during_connect 27 160 105.32 GUMSTIX 138 1000 3290.52

Iridium_during_xfer 292 223 1550.85

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 102 1000 2440.88

GPS 14 50 7.50

TT8 2055 18 373.76

LPSleep 5986 0 23.58

TT8_Active 528 18 96.10

TT8_Sampling 2202 38 845.46

TT8_CF8 679 44 301.85

TT8_Kalman 33 80 26.93

Analog_circuits 1672 12 202.66

GPS_charging 0 0 0.00

Compass 2138 8 172.83

RAFOS 0 0 0.00

Transponder 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -3.27 -28.0 0.0 0.0 0 110 0.00 0.00 -88.43 0.000 6 0.000 0.000 403 2001 3034

113 -3.30 -50.8 2.9 -4.6 15 133 8.40 2.47 -2.03 0.000 4 0.179 0.058 1817 3366 3128

173 -3.30 -50.8 22.4 -32.9 25 178 0.00 2.40 0.00 0.000 6 0.000 0.032 1817 1959 3129

243 -3.30 -50.8 43.9 -30.0 31 247 0.00 2.47 0.00 0.000 4 0.000 0.046 1817 3364 3129

305 -3.30 -50.8 61.6 -28.2 36 309 0.00 2.38 0.00 0.000 6 0.000 0.031 1817 1964 3129

381 -3.30 -50.8 79.5 -21.2 43 386 0.00 2.50 0.00 0.000 4 0.000 0.055 1817 566 3130

500 -3.30 -50.8 105.8 -20.9 53 504 0.00 2.38 0.00 0.000 6 0.000 0.028 1817 1981 3131

570 -3.30 -50.8 119.4 -19.7 59 574 0.00 2.42 0.00 0.000 4 0.000 0.048 1817 3362 3131

665 -3.30 -50.8 142.0 -24.3 67 670 0.00 2.38 0.00 0.000 6 0.000 0.031 1817 1961 3132

735 -3.30 -50.8 155.5 -18.3 73 736 0.00 0.00 0.00 0.000 6 0.000 0.000 1817 1961 3132

799 -3.30 -50.8 166.4 -17.4 79 800 0.00 0.00 0.00 0.000 6 0.000 0.000 1817 1961 3132

863 -3.30 -50.8 176.5 -15.4 85 867 0.00 2.47 0.00 0.000 4 0.000 0.047 1817 3367 3133

907 -3.30 -50.8 184.6 -18.6 88 913 0.00 2.38 0.00 0.000 6 0.000 0.032 1817 1970 3132

977 -3.30 -50.8 196.4 -16.6 95 978 0.00 0.00 0.00 0.000 6 0.000 0.000 1817 1970 3133

1042 -3.30 -50.8 206.9 -16.4 101 1043 0.00 0.00 0.00 0.000 6 0.000 0.000 1817 1970 3133

1104 -3.30 -50.8 216.3 -14.3 107 1108 0.00 2.45 0.00 0.000 4 0.000 0.048 1817 3367 3134

1362 -3.30 -50.8 255.7 -13.8 130 1366 0.00 2.40 0.00 0.000 6 0.000 0.035 1817 1964 3134

1432 -3.30 -50.8 265.5 -14.1 136 1436 0.00 2.47 0.00 0.000 4 0.000 0.050 1817 3362 3134

1482 -3.30 -50.8 272.7 -14.1 140 1487 0.00 2.40 0.00 0.000 6 0.000 0.035 1817 1962 3134

1552 -3.30 -50.8 281.5 -12.3 146 1556 0.00 2.55 0.00 0.000 4 0.000 0.065 1817 564 3134

1585 -3.30 -50.8 285.7 -11.6 148 1592 0.00 2.40 0.00 0.000 6 0.000 0.034 1817 1972 3134

1655 -3.30 -50.8 295.1 -14.5 155 1656 0.00 0.00 0.00 0.000 6 0.000 0.000 1816 1972 3134

1719 -3.30 -50.8 304.2 -14.3 161 1720 0.00 0.00 0.00 0.000 6 0.000 0.000 1817 1972 3134

1910 -3.30 -50.8 328.8 -12.7 179 1914 0.00 2.50 0.00 0.000 4 0.000 0.054 1817 3374 3134

2167 -3.30 -50.8 362.8 -13.6 201 2174 0.00 2.45 0.00 0.000 6 0.000 0.039 1816 1964 3133

2365 -3.30 -50.8 388.4 -13.0 220 2369 0.00 2.58 0.00 0.000 4 0.000 0.071 1816 568 3133

2516 -3.30 -50.8 410.3 -13.2 233 2521 0.00 2.42 0.00 0.000 6 0.000 0.038 1817 1976 3131

2714 -3.30 -50.8 437.8 -14.6 251 2718 0.00 2.60 0.00 0.000 4 0.000 0.066 1817 563 3130

2843 -3.30 -50.8 456.9 -15.0 262 2847 0.00 2.42 0.00 0.000 6 0.000 0.038 1817 1967 3128

3040 -3.30 -50.8 485.7 -15.0 280 3041 0.00 0.00 0.00 0.000 6 0.000 0.000 1817 1967 3127

3231 -3.30 -50.8 513.8 -15.0 298 3236 0.00 2.55 0.00 0.000 4 0.000 0.061 1817 3374 3125

3383 -3.30 -50.8 535.5 -14.6 311 3388 0.00 2.47 0.00 0.000 6 0.000 0.044 1817 1965 3124

3581 -3.30 -50.8 562.3 -12.8 329 3585 0.00 2.60 0.00 0.000 4 0.000 0.074 1817 566 3122

3777 -3.30 -50.8 586.6 -12.4 346 3781 0.00 2.42 0.00 0.000 6 0.000 0.039 1817 1969 3120

3979 -3.30 -50.8 608.5 -10.2 365 3984 0.00 2.55 0.00 0.000 4 0.000 0.063 1817 3372 3118

4161 -3.30 -50.8 627.8 -10.8 380 4168 0.00 2.47 0.00 0.000 6 0.000 0.044 1816 1968 3117

4359 -3.30 -53.1 647.6 -9.5 399 4363 0.00 2.60 0.00 0.000 4 0.000 0.072 1816 568 3115

4485 end dive: TARGET_DEPTH_EXCEEDED

state 4486 begin apogee

4494 -0.38 0.0 660.5 10.1 410 4550 3.50 0.00 45.47 1.063 6 0.158 0.000 2453 2002 2917

4551 end apogee: CONTROL_FINISHED_OK

state 4552 begin climb

4554 3.30 53.1 661.6 0.0 416 4615 3.70 2.65 50.03 1.042 4 0.056 0.065 3278 3388 2700

4779 3.30 53.1 632.9 14.7 436 4783 0.00 2.50 0.00 0.000 6 0.000 0.046 3278 1991 2697

4976 3.30 53.1 605.9 13.1 454 4977 0.00 0.00 0.00 0.000 6 0.000 0.000 3278 1991 2696

5167 3.30 53.1 582.1 12.7 472 5171 0.00 2.60 0.00 0.000 4 0.000 0.066 3278 3389 2694

5424 3.30 53.1 547.8 11.8 494 5431 0.00 2.50 0.00 0.000 6 0.000 0.047 3278 1991 2691

5622 3.30 53.1 526.1 10.4 513 5623 0.00 0.00 0.00 0.000 6 0.000 0.000 3278 1990 2691

5813 3.30 53.1 506.5 10.4 531 5817 0.00 2.60 0.00 0.000 4 0.000 0.065 3278 3392 2689

5994 3.30 53.1 487.3 10.2 546 6001 0.00 2.50 0.00 0.000 6 0.000 0.046 3278 1991 2688

6191 3.30 53.8 467.8 9.8 565 6192 0.00 0.00 0.00 0.000 6 0.000 0.000 3278 1993 2687

6382 3.30 53.8 446.9 10.8 583 6383 0.00 0.00 0.00 0.000 6 0.000 0.000 3278 1992 2687

6574 3.30 53.8 427.2 10.3 601 6575 0.00 0.00 0.00 0.000 6 0.000 0.000 3278 1991 2686

6764 3.30 53.8 406.6 10.0 619 6769 0.00 2.60 0.00 0.000 4 0.000 0.065 3278 3397 2685

6887 3.31 56.1 395.4 9.4 629 6894 0.00 2.50 0.00 0.000 6 0.000 0.046 3278 1991 2684

7085 3.32 66.0 378.5 7.7 648 7100 0.00 2.67 9.15 0.842 4 0.000 0.072 3278 595 2648

7354 3.32 66.5 353.0 9.9 672 7358 0.00 2.45 0.00 0.000 6 0.000 0.040 3278 1995 2647

7552 3.33 75.1 337.6 7.9 690 7567 0.00 2.62 9.38 0.819 4 0.000 0.065 3278 3386 2610

7821 3.34 79.4 311.1 9.0 714 7834 0.00 2.47 5.07 0.674 6 0.000 0.044 3278 1992 2593

8024 3.34 79.4 290.1 10.2 733 8028 0.00 2.58 0.00 0.000 4 0.000 0.061 3278 3391 2592

8277 3.34 81.8 264.1 9.4 755 8289 0.00 2.47 3.70 0.540 6 0.000 0.043 3278 1989 2583

8352 3.34 86.5 257.2 8.9 762 8364 0.00 2.55 5.90 0.684 4 0.000 0.058 3278 3391 2564

8478 3.34 86.5 245.0 10.1 773 8482 0.00 2.47 0.00 0.000 6 0.000 0.042 3278 1991 2563

8554 3.35 93.2 238.4 8.4 780 8567 0.00 2.62 7.15 0.711 4 0.000 0.067 3279 590 2537

8639 3.35 93.2 230.8 10.3 787 8647 0.00 2.45 0.00 0.000 6 0.000 0.037 3278 1996 2536

8710 3.37 107.1 225.5 6.7 794 8734 0.00 2.65 13.48 0.768 4 0.000 0.061 3278 3401 2480

8986 3.37 107.1 198.2 11.9 818 8993 0.00 2.50 0.00 0.000 6 0.000 0.041 3278 1988 2477

9056 3.37 107.1 190.4 11.4 825 9060 0.00 2.55 0.00 0.000 4 0.000 0.056 3278 3390 2477

9313 3.38 113.7 162.5 8.4 847 9324 0.00 2.45 6.78 0.634 6 0.000 0.038 3278 1987 2453

9389 3.39 121.1 156.4 8.2 854 9403 0.00 2.58 7.70 0.644 4 0.000 0.053 3278 3399 2423

9531 3.39 121.1 137.9 15.9 866 9538 0.00 2.47 0.00 0.000 6 0.000 0.038 3278 1988 2421

9601 3.39 121.1 128.4 13.2 873 9606 0.00 2.55 0.00 0.000 4 0.000 0.053 3278 3397 2421

9858 3.40 129.0 102.5 8.1 895 9876 0.00 2.45 8.05 0.604 6 0.000 0.037 3278 1990 2391

9939 3.40 130.9 95.8 9.5 903 9944 0.00 2.55 0.00 0.000 4 0.000 0.053 3278 3399 2390

10197 3.40 130.9 67.8 10.2 925 10204 0.00 2.45 0.00 0.000 6 0.000 0.035 3278 1984 2390

10267 3.40 130.9 60.8 11.1 932 10271 0.00 2.55 0.00 0.000 4 0.000 0.052 3278 3401 2390

10318 3.41 140.0 56.0 7.8 936 10334 0.00 2.45 10.75 0.581 6 0.000 0.035 3278 1984 2346

10399 3.46 181.5 55.0 0.1 943 10444 0.00 2.62 35.00 0.613 4 0.000 0.058 3278 593 2175

10461 3.49 200.5 52.5 5.5 948 10483 0.00 2.42 16.77 0.577 6 0.000 0.030 3278 2002 2098

10554 3.49 200.5 43.7 12.0 957 10555 0.00 0.00 0.00 0.000 6 0.000 0.000 3278 2002 2095

10617 3.49 200.5 35.7 12.4 963 10622 0.10 2.53 0.00 0.000 4 0.058 0.056 3310 3398 2094

10645 3.49 200.5 31.9 13.3 965 10649 0.00 2.45 0.00 0.000 6 0.000 0.035 3310 1984 2094

10715 3.49 200.5 20.0 17.2 971 10722 0.00 2.53 0.00 0.000 4 0.000 0.051 3310 3389 2093

10816 end climb: SURFACE_DEPTH_REACHED

state 10816 begin surface coast

10828 end surface coast: CONTROL_FINISHED_OK

state 10828 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	63	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	660	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	220	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	275	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	-107698.28	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	225	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	061208,2154.099,-15941.892,13,1.5,13,9.8	TGT_LATLONG	2153.790,-15942.207
_CALLS	1	TGT_RADIUS	1000.000
_XMS_NAKs	4	KALMAN_CONTROL	0.101,-0.028
_XMS_TOUTs	0	KALMAN_X	-71837.7,-1245.7,-85.7,77054.7,-1606.3
_SM_DEPTHo	1.19	KALMAN_Y	24692.6,705.8,210.7,-28583.5,-211.4
_SM_ANGLEo	-47.0	MHEAD_RNG_PITCHd_Wd	95.6,637,-42.1,-10.000
GPS2	062020,2154.102,-15942.051,13,1.4,13,9.8	D_GRID	660
SPEED_LIMITS	0.100,0.311	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobSW

FINISH	0.6,1.022205	MM_CLLLayer	0.03
SM_CCo	10855,95.07,0.544,0,0,1286,400.08	MM_CfgFile	0.30
SM_GC	1.44,0.00,0.00,95.07,0.000,0.000,0.544,405,1958,1286,-9.83,-0.34,400.08	_24V_AH	23.8,16.338
IRIDIUM_FIX	2145.77,-15942.95,291098,040456	_10V_AH	10.1,7.054
TT8_MAMPS	0.082069	DATA_FILE_SIZE	31603,991
HUMID	1995	CAP_FILE_SIZE	139679,0
INTERNAL_PRESSURE	7.52959	CFSIZE	260165632,251445248
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	040809,092501,2154.411,-15941.954,40,1.8,40,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	179	121.95	SBE_CT	698	24	398.72
Roll_motor	165	73	289.50	nil	0	0	0.00
VBD_pump_during_apogee	234	1063	5929.89	nil	0	0	0.00
VBD_pump_during_surface	95	543	1230.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	75.96	nil	0	0	0.00
Iridium_during_connect	27	160	105.32	GUMSTIX	138	1000	3290.52
Iridium_during_xfer	292	223	1550.85
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	102	1000	2440.88
GPS	14	50	7.50
TT8	2055	18	373.76
LPSleep	5986	0	23.58
TT8_Active	528	18	96.10
TT8_Sampling	2202	38	845.46
TT8_CF8	679	44	301.85
TT8_Kalman	33	80	26.93
Analog_circuits	1672	12	202.66
GPS_charging	0	0	0.00
Compass	2138	8	172.83
RAFOS	0	0	0.00
Transponder	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-3.27	-28.0	0.0	0.0	0	110	0.00	0.00	-88.43	0.000	6	0.000	0.000	403	2001	3034
113	-3.30	-50.8	2.9	-4.6	15	133	8.40	2.47	-2.03	0.000	4	0.179	0.058	1817	3366	3128
173	-3.30	-50.8	22.4	-32.9	25	178	0.00	2.40	0.00	0.000	6	0.000	0.032	1817	1959	3129
243	-3.30	-50.8	43.9	-30.0	31	247	0.00	2.47	0.00	0.000	4	0.000	0.046	1817	3364	3129
305	-3.30	-50.8	61.6	-28.2	36	309	0.00	2.38	0.00	0.000	6	0.000	0.031	1817	1964	3129
381	-3.30	-50.8	79.5	-21.2	43	386	0.00	2.50	0.00	0.000	4	0.000	0.055	1817	566	3130
500	-3.30	-50.8	105.8	-20.9	53	504	0.00	2.38	0.00	0.000	6	0.000	0.028	1817	1981	3131
570	-3.30	-50.8	119.4	-19.7	59	574	0.00	2.42	0.00	0.000	4	0.000	0.048	1817	3362	3131
665	-3.30	-50.8	142.0	-24.3	67	670	0.00	2.38	0.00	0.000	6	0.000	0.031	1817	1961	3132
735	-3.30	-50.8	155.5	-18.3	73	736	0.00	0.00	0.00	0.000	6	0.000	0.000	1817	1961	3132
799	-3.30	-50.8	166.4	-17.4	79	800	0.00	0.00	0.00	0.000	6	0.000	0.000	1817	1961	3132
863	-3.30	-50.8	176.5	-15.4	85	867	0.00	2.47	0.00	0.000	4	0.000	0.047	1817	3367	3133
907	-3.30	-50.8	184.6	-18.6	88	913	0.00	2.38	0.00	0.000	6	0.000	0.032	1817	1970	3132
977	-3.30	-50.8	196.4	-16.6	95	978	0.00	0.00	0.00	0.000	6	0.000	0.000	1817	1970	3133
1042	-3.30	-50.8	206.9	-16.4	101	1043	0.00	0.00	0.00	0.000	6	0.000	0.000	1817	1970	3133
1104	-3.30	-50.8	216.3	-14.3	107	1108	0.00	2.45	0.00	0.000	4	0.000	0.048	1817	3367	3134
1362	-3.30	-50.8	255.7	-13.8	130	1366	0.00	2.40	0.00	0.000	6	0.000	0.035	1817	1964	3134
1432	-3.30	-50.8	265.5	-14.1	136	1436	0.00	2.47	0.00	0.000	4	0.000	0.050	1817	3362	3134
1482	-3.30	-50.8	272.7	-14.1	140	1487	0.00	2.40	0.00	0.000	6	0.000	0.035	1817	1962	3134
1552	-3.30	-50.8	281.5	-12.3	146	1556	0.00	2.55	0.00	0.000	4	0.000	0.065	1817	564	3134
1585	-3.30	-50.8	285.7	-11.6	148	1592	0.00	2.40	0.00	0.000	6	0.000	0.034	1817	1972	3134
1655	-3.30	-50.8	295.1	-14.5	155	1656	0.00	0.00	0.00	0.000	6	0.000	0.000	1816	1972	3134
1719	-3.30	-50.8	304.2	-14.3	161	1720	0.00	0.00	0.00	0.000	6	0.000	0.000	1817	1972	3134
1910	-3.30	-50.8	328.8	-12.7	179	1914	0.00	2.50	0.00	0.000	4	0.000	0.054	1817	3374	3134
2167	-3.30	-50.8	362.8	-13.6	201	2174	0.00	2.45	0.00	0.000	6	0.000	0.039	1816	1964	3133
2365	-3.30	-50.8	388.4	-13.0	220	2369	0.00	2.58	0.00	0.000	4	0.000	0.071	1816	568	3133
2516	-3.30	-50.8	410.3	-13.2	233	2521	0.00	2.42	0.00	0.000	6	0.000	0.038	1817	1976	3131
2714	-3.30	-50.8	437.8	-14.6	251	2718	0.00	2.60	0.00	0.000	4	0.000	0.066	1817	563	3130
2843	-3.30	-50.8	456.9	-15.0	262	2847	0.00	2.42	0.00	0.000	6	0.000	0.038	1817	1967	3128
3040	-3.30	-50.8	485.7	-15.0	280	3041	0.00	0.00	0.00	0.000	6	0.000	0.000	1817	1967	3127
3231	-3.30	-50.8	513.8	-15.0	298	3236	0.00	2.55	0.00	0.000	4	0.000	0.061	1817	3374	3125
3383	-3.30	-50.8	535.5	-14.6	311	3388	0.00	2.47	0.00	0.000	6	0.000	0.044	1817	1965	3124
3581	-3.30	-50.8	562.3	-12.8	329	3585	0.00	2.60	0.00	0.000	4	0.000	0.074	1817	566	3122
3777	-3.30	-50.8	586.6	-12.4	346	3781	0.00	2.42	0.00	0.000	6	0.000	0.039	1817	1969	3120
3979	-3.30	-50.8	608.5	-10.2	365	3984	0.00	2.55	0.00	0.000	4	0.000	0.063	1817	3372	3118
4161	-3.30	-50.8	627.8	-10.8	380	4168	0.00	2.47	0.00	0.000	6	0.000	0.044	1816	1968	3117
4359	-3.30	-53.1	647.6	-9.5	399	4363	0.00	2.60	0.00	0.000	4	0.000	0.072	1816	568	3115
4485	end dive: TARGET_DEPTH_EXCEEDED
state	4486	begin apogee
4494	-0.38	0.0	660.5	10.1	410	4550	3.50	0.00	45.47	1.063	6	0.158	0.000	2453	2002	2917
4551	end apogee: CONTROL_FINISHED_OK
state	4552	begin climb
4554	3.30	53.1	661.6	0.0	416	4615	3.70	2.65	50.03	1.042	4	0.056	0.065	3278	3388	2700
4779	3.30	53.1	632.9	14.7	436	4783	0.00	2.50	0.00	0.000	6	0.000	0.046	3278	1991	2697
4976	3.30	53.1	605.9	13.1	454	4977	0.00	0.00	0.00	0.000	6	0.000	0.000	3278	1991	2696
5167	3.30	53.1	582.1	12.7	472	5171	0.00	2.60	0.00	0.000	4	0.000	0.066	3278	3389	2694
5424	3.30	53.1	547.8	11.8	494	5431	0.00	2.50	0.00	0.000	6	0.000	0.047	3278	1991	2691
5622	3.30	53.1	526.1	10.4	513	5623	0.00	0.00	0.00	0.000	6	0.000	0.000	3278	1990	2691
5813	3.30	53.1	506.5	10.4	531	5817	0.00	2.60	0.00	0.000	4	0.000	0.065	3278	3392	2689
5994	3.30	53.1	487.3	10.2	546	6001	0.00	2.50	0.00	0.000	6	0.000	0.046	3278	1991	2688
6191	3.30	53.8	467.8	9.8	565	6192	0.00	0.00	0.00	0.000	6	0.000	0.000	3278	1993	2687
6382	3.30	53.8	446.9	10.8	583	6383	0.00	0.00	0.00	0.000	6	0.000	0.000	3278	1992	2687
6574	3.30	53.8	427.2	10.3	601	6575	0.00	0.00	0.00	0.000	6	0.000	0.000	3278	1991	2686
6764	3.30	53.8	406.6	10.0	619	6769	0.00	2.60	0.00	0.000	4	0.000	0.065	3278	3397	2685
6887	3.31	56.1	395.4	9.4	629	6894	0.00	2.50	0.00	0.000	6	0.000	0.046	3278	1991	2684
7085	3.32	66.0	378.5	7.7	648	7100	0.00	2.67	9.15	0.842	4	0.000	0.072	3278	595	2648
7354	3.32	66.5	353.0	9.9	672	7358	0.00	2.45	0.00	0.000	6	0.000	0.040	3278	1995	2647
7552	3.33	75.1	337.6	7.9	690	7567	0.00	2.62	9.38	0.819	4	0.000	0.065	3278	3386	2610
7821	3.34	79.4	311.1	9.0	714	7834	0.00	2.47	5.07	0.674	6	0.000	0.044	3278	1992	2593
8024	3.34	79.4	290.1	10.2	733	8028	0.00	2.58	0.00	0.000	4	0.000	0.061	3278	3391	2592
8277	3.34	81.8	264.1	9.4	755	8289	0.00	2.47	3.70	0.540	6	0.000	0.043	3278	1989	2583
8352	3.34	86.5	257.2	8.9	762	8364	0.00	2.55	5.90	0.684	4	0.000	0.058	3278	3391	2564
8478	3.34	86.5	245.0	10.1	773	8482	0.00	2.47	0.00	0.000	6	0.000	0.042	3278	1991	2563
8554	3.35	93.2	238.4	8.4	780	8567	0.00	2.62	7.15	0.711	4	0.000	0.067	3279	590	2537
8639	3.35	93.2	230.8	10.3	787	8647	0.00	2.45	0.00	0.000	6	0.000	0.037	3278	1996	2536
8710	3.37	107.1	225.5	6.7	794	8734	0.00	2.65	13.48	0.768	4	0.000	0.061	3278	3401	2480
8986	3.37	107.1	198.2	11.9	818	8993	0.00	2.50	0.00	0.000	6	0.000	0.041	3278	1988	2477
9056	3.37	107.1	190.4	11.4	825	9060	0.00	2.55	0.00	0.000	4	0.000	0.056	3278	3390	2477
9313	3.38	113.7	162.5	8.4	847	9324	0.00	2.45	6.78	0.634	6	0.000	0.038	3278	1987	2453
9389	3.39	121.1	156.4	8.2	854	9403	0.00	2.58	7.70	0.644	4	0.000	0.053	3278	3399	2423
9531	3.39	121.1	137.9	15.9	866	9538	0.00	2.47	0.00	0.000	6	0.000	0.038	3278	1988	2421
9601	3.39	121.1	128.4	13.2	873	9606	0.00	2.55	0.00	0.000	4	0.000	0.053	3278	3397	2421
9858	3.40	129.0	102.5	8.1	895	9876	0.00	2.45	8.05	0.604	6	0.000	0.037	3278	1990	2391
9939	3.40	130.9	95.8	9.5	903	9944	0.00	2.55	0.00	0.000	4	0.000	0.053	3278	3399	2390
10197	3.40	130.9	67.8	10.2	925	10204	0.00	2.45	0.00	0.000	6	0.000	0.035	3278	1984	2390
10267	3.40	130.9	60.8	11.1	932	10271	0.00	2.55	0.00	0.000	4	0.000	0.052	3278	3401	2390
10318	3.41	140.0	56.0	7.8	936	10334	0.00	2.45	10.75	0.581	6	0.000	0.035	3278	1984	2346
10399	3.46	181.5	55.0	0.1	943	10444	0.00	2.62	35.00	0.613	4	0.000	0.058	3278	593	2175
10461	3.49	200.5	52.5	5.5	948	10483	0.00	2.42	16.77	0.577	6	0.000	0.030	3278	2002	2098
10554	3.49	200.5	43.7	12.0	957	10555	0.00	0.00	0.00	0.000	6	0.000	0.000	3278	2002	2095
10617	3.49	200.5	35.7	12.4	963	10622	0.10	2.53	0.00	0.000	4	0.058	0.056	3310	3398	2094
10645	3.49	200.5	31.9	13.3	965	10649	0.00	2.45	0.00	0.000	6	0.000	0.035	3310	1984	2094
10715	3.49	200.5	20.0	17.2	971	10722	0.00	2.53	0.00	0.000	4	0.000	0.051	3310	3389	2093
10816	end climb: SURFACE_DEPTH_REACHED
state	10816	begin surface coast
10828	end surface coast: CONTROL_FINISHED_OK
state	10828	begin surface