Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 68 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 22 ESCAPE_HEADING 180 ROLL_MIN 155 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 68 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3900 ALTIM_PING_DEPTH 90

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2628 ALTIM_FREQUENCY 12

D_TGT 270 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2530 ALTIM_PULSE 2

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 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 52 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 90 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 120 CALL_TRIES 5 VBD_MAX 3955 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2936 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 3 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -58894.121 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 150 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 132 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3449 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3095 PRESSURE_YINT -0.46644667 SEABIRD_T_G 0.0043738699

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_H 0.00063649943

MASS 51716 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5189185e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7386873e-06

FERRY_MAX 0 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8703537

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1242318

HD_A 0.003 PITCH_AD_RATE 140 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0015997718

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00020779716

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 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 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 132 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 90 D_TGT 270 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.46644667 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 90

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -58894.121

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 120

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 116 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 UNCOM_BLEED 150

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3095 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2530 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2628 MASS 51716 R_PORT_OVSHOOT 52 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 225 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 22 SEABIRD_C_G -9.8703537 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1242318 VBD_MAX 3955

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0015997718 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00020779716 VBD_MIN 770

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043738699 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063649943 VBD_PUMP_AD_RATE_SURFACE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5189185e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7386873e-06 XPDR_DEVICE -1

DIVE 68 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 211907,2154.584,-15943.179,13,2.0,31,9.8 TGT_LATLONG 2154.185,-15941.805

_CALLS 1 TGT_RADIUS 400.000

_XMS_NAKs 2 KALMAN_CONTROL 0.295,-0.096

_XMS_TOUTs 0 KALMAN_X -95346.3,-118.8,-123.2,93288.6,-1203.0

_SM_DEPTHo 0.82 KALMAN_Y 20878.9,-173.8,158.6,-23527.0,393.9

_SM_ANGLEo -67.0 MHEAD_RNG_PITCHd_Wd 98.1,2709,-13.9,-10.000

GPS2 212806,2154.623,-15943.309,39,1.0,44,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.310 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobNE

Post-dive calculations and measurements:

FINISH -0.0,1.022875 MM_CLLLayer 0.03

SM_CCo 5293,16.00,0.484,0,0,1304,400.08 MM_CfgFile 0.30

SM_GC 1.02,0.00,0.00,16.00,0.000,0.000,0.484,123,2649,1304,-13.67,0.59,400.08 _24V_AH 23.8,20.349

IRIDIUM_FIX 2148.09,-15942.95,281098,191929 _10V_AH 10.1,6.799

TT8_MAMPS 0.056758 DATA_FILE_SIZE 15894,502

HUMID 1908 CAP_FILE_SIZE 215968,0

INTERNAL_PRESSURE 11.4653 CFSIZE 260034560,249659392

TCM_TEMP 23.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 030809,225814,2154.519,-15943.140,12,1.2,13,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 177 140.82 SBE_CT 326 24 186.70

Roll_motor 61 71 104.87 nil 0 0 0.00

VBD_pump_during_apogee 733 631 11021.64 nil 0 0 0.00

VBD_pump_during_surface 16 483 184.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.23 nil 0 0 0.00

Iridium_during_connect 38 160 145.43 GUMSTIX 74 1000 1782.14

Iridium_during_xfer 310 223 1646.39

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 38 1000 914.80

GPS 44 50 22.46

TT8 1028 18 186.92

LPSleep 2334 0 9.19

TT8_Active 768 18 139.64

TT8_Sampling 958 38 367.91

TT8_CF8 760 44 338.04

TT8_Kalman 33 80 26.94

Analog_circuits 1425 12 172.75

GPS_charging 0 0 0.00

Compass 893 8 72.23

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

16 -1.43 -219.0 0.0 0.0 0 94 0.00 0.00 -74.60 0.000 2 0.000 0.000 123 2634 3355

97 -1.43 -219.0 3.4 -7.3 11 126 15.82 2.28 -7.32 0.000 4 0.178 0.071 2780 3884 3833

196 -1.43 -219.0 30.8 -18.6 22 200 0.00 2.10 0.00 0.000 6 0.000 0.028 2780 2618 3834

271 -1.43 -219.0 42.9 -15.8 29 272 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2618 3835

336 -1.43 -219.0 53.9 -17.1 35 337 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2617 3835

400 -1.43 -219.0 64.4 -16.3 41 401 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2617 3835

464 -1.43 -219.0 73.8 -14.8 47 468 0.00 2.33 0.00 0.000 4 0.000 0.061 2780 3893 3835

503 -1.43 -219.0 80.5 -16.9 50 507 0.00 2.10 0.00 0.000 6 0.000 0.028 2781 2619 3836

579 -1.43 -219.0 91.8 -14.2 57 580 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2616 3836

643 -1.43 -219.0 100.6 -13.2 63 644 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2616 3837

708 -1.43 -219.0 108.0 -11.6 69 712 0.00 2.33 0.00 0.000 4 0.000 0.064 2781 3887 3837

739 -1.43 -219.0 112.9 -13.8 71 748 0.00 2.10 0.00 0.000 6 0.000 0.027 2781 2629 3838

810 -1.43 -219.0 121.3 -11.8 78 811 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2628 3837

876 -1.43 -219.0 128.3 -11.0 84 880 0.00 2.35 0.00 0.000 4 0.000 0.033 2780 1241 3838

941 -1.43 -219.0 135.8 -11.3 89 949 0.00 2.42 0.00 0.000 6 0.000 0.035 2780 2628 3838

1011 -1.43 -219.0 143.7 -11.6 96 1012 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2627 3838

1076 -1.43 -219.0 151.6 -12.8 102 1077 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3838

1140 -1.43 -219.0 159.9 -13.0 108 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3838

1204 -1.43 -219.0 168.2 -13.3 114 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3838

1267 -1.43 -219.0 176.8 -13.5 120 1268 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2627 3838

1331 -1.43 -219.0 185.4 -13.5 126 1332 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3837

1396 -1.43 -219.0 193.2 -11.8 132 1397 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3837

1460 -1.43 -219.0 199.6 -10.0 138 1461 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3838

1523 -1.43 -219.0 205.2 -8.7 144 1524 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3837

1587 -1.43 -219.0 210.7 -8.7 150 1588 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3837

1650 -1.43 -219.0 216.2 -8.6 156 1651 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2627 3837

1713 -1.43 -219.0 221.7 -8.7 162 1717 0.00 2.33 0.00 0.000 4 0.000 0.071 2780 3888 3837

1769 -1.43 -219.0 227.2 -9.5 166 1776 0.00 2.10 0.00 0.000 6 0.000 0.030 2780 2627 3838

1839 -1.43 -219.0 233.4 -9.2 173 1840 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3837

1903 -1.43 -219.0 239.6 -9.7 179 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3837

1967 -1.43 -219.0 245.9 -9.9 185 1968 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2628 3837

2030 -1.43 -219.0 252.5 -10.3 191 2031 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2627 3838

2095 -1.43 -219.0 259.0 -10.2 197 2097 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2628 3837

2159 -1.43 -219.0 265.9 -11.2 203 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2627 3837

2197 end dive: TARGET_DEPTH_EXCEEDED

state 2197 begin apogee

2202 -0.42 0.0 270.7 11.3 207 2483 1.00 0.00 271.33 0.631 6 0.072 0.000 2999 2534 2936

2484 end apogee: CONTROL_FINISHED_OK

state 2484 begin climb

2486 1.43 219.0 286.3 0.0 235 2771 1.83 2.53 270.45 0.621 4 0.048 0.045 3409 1133 2043

2945 1.45 239.1 255.3 9.4 274 2977 0.00 2.47 25.85 0.593 6 0.000 0.039 3409 2533 1961

3039 1.45 239.1 245.8 10.7 283 3040 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 2533 1960

3103 1.45 239.1 239.3 10.2 289 3104 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 2533 1959

3167 1.45 239.1 232.7 10.3 295 3168 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 2533 1958

3231 1.46 247.4 226.6 9.7 301 3244 0.00 0.00 10.95 0.558 6 0.000 0.000 3409 2533 1927

3303 1.46 247.8 219.3 10.0 308 3304 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 2533 1926

3368 1.46 249.3 213.0 10.0 314 3372 0.00 2.53 0.00 0.000 4 0.000 0.070 3408 3888 1925

3441 1.46 249.6 205.5 10.0 320 3445 0.00 2.33 0.00 0.000 6 0.000 0.034 3409 2530 1924

3511 1.50 281.7 199.1 9.0 326 3561 0.00 0.00 43.62 0.613 6 0.000 0.000 3409 2529 1787

3624 1.50 281.7 187.9 10.3 337 3625 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 2529 1784

3689 1.52 293.6 181.8 9.6 343 3709 0.00 0.00 16.08 0.581 6 0.000 0.000 3408 2529 1738

3772 1.53 304.5 173.5 9.7 351 3793 0.00 0.00 15.18 0.583 6 0.000 0.000 3409 2529 1694

3856 1.57 332.9 165.5 9.1 359 3900 0.12 2.58 37.20 0.597 4 0.052 0.065 3447 3890 1578

3936 1.57 332.9 155.8 13.4 366 3940 0.00 2.35 0.00 0.000 6 0.000 0.033 3448 2525 1577

4006 1.57 332.9 147.2 12.2 372 4010 0.00 2.45 0.00 0.000 4 0.000 0.041 3448 1125 1575

4049 1.57 332.9 141.5 13.2 375 4057 0.00 2.50 0.00 0.000 6 0.000 0.038 3447 2528 1575

4121 1.57 332.9 133.0 12.6 382 4122 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2528 1574

4184 1.57 332.9 124.6 13.0 388 4188 0.00 2.50 0.00 0.000 4 0.000 0.065 3448 3887 1574

4223 1.57 332.9 119.0 14.1 391 4228 0.00 2.33 0.00 0.000 6 0.000 0.032 3448 2520 1573

4294 1.57 332.9 109.0 14.5 397 4298 0.00 2.40 0.00 0.000 4 0.000 0.039 3448 1138 1573

4337 1.57 332.9 102.8 13.6 400 4345 0.00 2.45 0.00 0.000 6 0.000 0.036 3448 2526 1573

4409 1.57 332.9 93.6 13.3 407 4410 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2526 1572

4472 1.57 332.9 84.8 13.8 413 4473 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2526 1572

4536 1.57 332.9 76.6 13.0 419 4540 0.00 2.50 0.00 0.000 4 0.000 0.064 3448 3891 1572

4567 1.57 332.9 72.2 12.6 421 4575 0.00 2.35 0.00 0.000 6 0.000 0.031 3448 2521 1572

4638 1.60 362.3 65.6 9.1 428 4682 0.00 0.00 36.42 0.559 6 0.000 0.000 3447 2521 1457

4745 1.60 362.3 54.1 11.0 438 4746 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2521 1456

4809 1.60 362.3 47.5 10.5 444 4810 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2521 1455

4873 1.60 362.3 40.9 10.2 450 4875 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2521 1455

4937 1.60 362.3 33.8 11.3 456 4938 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2521 1454

5001 1.60 362.3 26.8 10.6 462 5002 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2521 1454

5065 1.61 367.1 20.3 9.9 468 5078 0.00 2.50 6.55 0.446 4 0.000 0.058 3447 3888 1439

5117 1.61 367.1 14.6 11.2 476 5124 0.00 2.28 0.00 0.000 6 0.000 0.028 3448 2529 1439

5194 1.61 367.1 6.7 10.7 489 5201 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2526 1439

5222 end climb: SURFACE_DEPTH_REACHED

state 5222 begin surface coast

5269 end surface coast: CONTROL_FINISHED_OK

state 5270 begin surface

ID	116	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	22	ESCAPE_HEADING	180	ROLL_MIN	155	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	68	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3900	ALTIM_PING_DEPTH	90
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2628	ALTIM_FREQUENCY	12
D_TGT	270	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2530	ALTIM_PULSE	2
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	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	52	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	90	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	120	CALL_TRIES	5	VBD_MAX	3955	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2936	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	3	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-58894.121	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	150	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	132	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3449	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3095	PRESSURE_YINT	-0.46644667	SEABIRD_T_G	0.0043738699
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_H	0.00063649943
MASS	51716	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5189185e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7386873e-06
FERRY_MAX	0	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8703537
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1242318
HD_A	0.003	PITCH_AD_RATE	140	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0015997718
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00020779716
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	211907,2154.584,-15943.179,13,2.0,31,9.8	TGT_LATLONG	2154.185,-15941.805
_CALLS	1	TGT_RADIUS	400.000
_XMS_NAKs	2	KALMAN_CONTROL	0.295,-0.096
_XMS_TOUTs	0	KALMAN_X	-95346.3,-118.8,-123.2,93288.6,-1203.0
_SM_DEPTHo	0.82	KALMAN_Y	20878.9,-173.8,158.6,-23527.0,393.9
_SM_ANGLEo	-67.0	MHEAD_RNG_PITCHd_Wd	98.1,2709,-13.9,-10.000
GPS2	212806,2154.623,-15943.309,39,1.0,44,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.310	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobNE

FINISH	-0.0,1.022875	MM_CLLLayer	0.03
SM_CCo	5293,16.00,0.484,0,0,1304,400.08	MM_CfgFile	0.30
SM_GC	1.02,0.00,0.00,16.00,0.000,0.000,0.484,123,2649,1304,-13.67,0.59,400.08	_24V_AH	23.8,20.349
IRIDIUM_FIX	2148.09,-15942.95,281098,191929	_10V_AH	10.1,6.799
TT8_MAMPS	0.056758	DATA_FILE_SIZE	15894,502
HUMID	1908	CAP_FILE_SIZE	215968,0
INTERNAL_PRESSURE	11.4653	CFSIZE	260034560,249659392
TCM_TEMP	23.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	030809,225814,2154.519,-15943.140,12,1.2,13,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	177	140.82	SBE_CT	326	24	186.70
Roll_motor	61	71	104.87	nil	0	0	0.00
VBD_pump_during_apogee	733	631	11021.64	nil	0	0	0.00
VBD_pump_during_surface	16	483	184.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.23	nil	0	0	0.00
Iridium_during_connect	38	160	145.43	GUMSTIX	74	1000	1782.14
Iridium_during_xfer	310	223	1646.39
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	38	1000	914.80
GPS	44	50	22.46
TT8	1028	18	186.92
LPSleep	2334	0	9.19
TT8_Active	768	18	139.64
TT8_Sampling	958	38	367.91
TT8_CF8	760	44	338.04
TT8_Kalman	33	80	26.94
Analog_circuits	1425	12	172.75
GPS_charging	0	0	0.00
Compass	893	8	72.23
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
16	-1.43	-219.0	0.0	0.0	0	94	0.00	0.00	-74.60	0.000	2	0.000	0.000	123	2634	3355
97	-1.43	-219.0	3.4	-7.3	11	126	15.82	2.28	-7.32	0.000	4	0.178	0.071	2780	3884	3833
196	-1.43	-219.0	30.8	-18.6	22	200	0.00	2.10	0.00	0.000	6	0.000	0.028	2780	2618	3834
271	-1.43	-219.0	42.9	-15.8	29	272	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2618	3835
336	-1.43	-219.0	53.9	-17.1	35	337	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2617	3835
400	-1.43	-219.0	64.4	-16.3	41	401	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2617	3835
464	-1.43	-219.0	73.8	-14.8	47	468	0.00	2.33	0.00	0.000	4	0.000	0.061	2780	3893	3835
503	-1.43	-219.0	80.5	-16.9	50	507	0.00	2.10	0.00	0.000	6	0.000	0.028	2781	2619	3836
579	-1.43	-219.0	91.8	-14.2	57	580	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2616	3836
643	-1.43	-219.0	100.6	-13.2	63	644	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2616	3837
708	-1.43	-219.0	108.0	-11.6	69	712	0.00	2.33	0.00	0.000	4	0.000	0.064	2781	3887	3837
739	-1.43	-219.0	112.9	-13.8	71	748	0.00	2.10	0.00	0.000	6	0.000	0.027	2781	2629	3838
810	-1.43	-219.0	121.3	-11.8	78	811	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2628	3837
876	-1.43	-219.0	128.3	-11.0	84	880	0.00	2.35	0.00	0.000	4	0.000	0.033	2780	1241	3838
941	-1.43	-219.0	135.8	-11.3	89	949	0.00	2.42	0.00	0.000	6	0.000	0.035	2780	2628	3838
1011	-1.43	-219.0	143.7	-11.6	96	1012	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2627	3838
1076	-1.43	-219.0	151.6	-12.8	102	1077	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3838
1140	-1.43	-219.0	159.9	-13.0	108	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3838
1204	-1.43	-219.0	168.2	-13.3	114	1205	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3838
1267	-1.43	-219.0	176.8	-13.5	120	1268	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2627	3838
1331	-1.43	-219.0	185.4	-13.5	126	1332	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3837
1396	-1.43	-219.0	193.2	-11.8	132	1397	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3837
1460	-1.43	-219.0	199.6	-10.0	138	1461	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3838
1523	-1.43	-219.0	205.2	-8.7	144	1524	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3837
1587	-1.43	-219.0	210.7	-8.7	150	1588	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3837
1650	-1.43	-219.0	216.2	-8.6	156	1651	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2627	3837
1713	-1.43	-219.0	221.7	-8.7	162	1717	0.00	2.33	0.00	0.000	4	0.000	0.071	2780	3888	3837
1769	-1.43	-219.0	227.2	-9.5	166	1776	0.00	2.10	0.00	0.000	6	0.000	0.030	2780	2627	3838
1839	-1.43	-219.0	233.4	-9.2	173	1840	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3837
1903	-1.43	-219.0	239.6	-9.7	179	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3837
1967	-1.43	-219.0	245.9	-9.9	185	1968	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2628	3837
2030	-1.43	-219.0	252.5	-10.3	191	2031	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2627	3838
2095	-1.43	-219.0	259.0	-10.2	197	2097	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2628	3837
2159	-1.43	-219.0	265.9	-11.2	203	2160	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2627	3837
2197	end dive: TARGET_DEPTH_EXCEEDED
state	2197	begin apogee
2202	-0.42	0.0	270.7	11.3	207	2483	1.00	0.00	271.33	0.631	6	0.072	0.000	2999	2534	2936
2484	end apogee: CONTROL_FINISHED_OK
state	2484	begin climb
2486	1.43	219.0	286.3	0.0	235	2771	1.83	2.53	270.45	0.621	4	0.048	0.045	3409	1133	2043
2945	1.45	239.1	255.3	9.4	274	2977	0.00	2.47	25.85	0.593	6	0.000	0.039	3409	2533	1961
3039	1.45	239.1	245.8	10.7	283	3040	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	2533	1960
3103	1.45	239.1	239.3	10.2	289	3104	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	2533	1959
3167	1.45	239.1	232.7	10.3	295	3168	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	2533	1958
3231	1.46	247.4	226.6	9.7	301	3244	0.00	0.00	10.95	0.558	6	0.000	0.000	3409	2533	1927
3303	1.46	247.8	219.3	10.0	308	3304	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	2533	1926
3368	1.46	249.3	213.0	10.0	314	3372	0.00	2.53	0.00	0.000	4	0.000	0.070	3408	3888	1925
3441	1.46	249.6	205.5	10.0	320	3445	0.00	2.33	0.00	0.000	6	0.000	0.034	3409	2530	1924
3511	1.50	281.7	199.1	9.0	326	3561	0.00	0.00	43.62	0.613	6	0.000	0.000	3409	2529	1787
3624	1.50	281.7	187.9	10.3	337	3625	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	2529	1784
3689	1.52	293.6	181.8	9.6	343	3709	0.00	0.00	16.08	0.581	6	0.000	0.000	3408	2529	1738
3772	1.53	304.5	173.5	9.7	351	3793	0.00	0.00	15.18	0.583	6	0.000	0.000	3409	2529	1694
3856	1.57	332.9	165.5	9.1	359	3900	0.12	2.58	37.20	0.597	4	0.052	0.065	3447	3890	1578
3936	1.57	332.9	155.8	13.4	366	3940	0.00	2.35	0.00	0.000	6	0.000	0.033	3448	2525	1577
4006	1.57	332.9	147.2	12.2	372	4010	0.00	2.45	0.00	0.000	4	0.000	0.041	3448	1125	1575
4049	1.57	332.9	141.5	13.2	375	4057	0.00	2.50	0.00	0.000	6	0.000	0.038	3447	2528	1575
4121	1.57	332.9	133.0	12.6	382	4122	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2528	1574
4184	1.57	332.9	124.6	13.0	388	4188	0.00	2.50	0.00	0.000	4	0.000	0.065	3448	3887	1574
4223	1.57	332.9	119.0	14.1	391	4228	0.00	2.33	0.00	0.000	6	0.000	0.032	3448	2520	1573
4294	1.57	332.9	109.0	14.5	397	4298	0.00	2.40	0.00	0.000	4	0.000	0.039	3448	1138	1573
4337	1.57	332.9	102.8	13.6	400	4345	0.00	2.45	0.00	0.000	6	0.000	0.036	3448	2526	1573
4409	1.57	332.9	93.6	13.3	407	4410	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2526	1572
4472	1.57	332.9	84.8	13.8	413	4473	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2526	1572
4536	1.57	332.9	76.6	13.0	419	4540	0.00	2.50	0.00	0.000	4	0.000	0.064	3448	3891	1572
4567	1.57	332.9	72.2	12.6	421	4575	0.00	2.35	0.00	0.000	6	0.000	0.031	3448	2521	1572
4638	1.60	362.3	65.6	9.1	428	4682	0.00	0.00	36.42	0.559	6	0.000	0.000	3447	2521	1457
4745	1.60	362.3	54.1	11.0	438	4746	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2521	1456
4809	1.60	362.3	47.5	10.5	444	4810	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2521	1455
4873	1.60	362.3	40.9	10.2	450	4875	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2521	1455
4937	1.60	362.3	33.8	11.3	456	4938	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2521	1454
5001	1.60	362.3	26.8	10.6	462	5002	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2521	1454
5065	1.61	367.1	20.3	9.9	468	5078	0.00	2.50	6.55	0.446	4	0.000	0.058	3447	3888	1439
5117	1.61	367.1	14.6	11.2	476	5124	0.00	2.28	0.00	0.000	6	0.000	0.028	3448	2529	1439
5194	1.61	367.1	6.7	10.7	489	5201	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2526	1439
5222	end climb: SURFACE_DEPTH_REACHED
state	5222	begin surface coast
5269	end surface coast: CONTROL_FINISHED_OK
state	5270	begin surface