Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 71 * 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 71 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 28 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 125 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 -58938.043 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 -58938.043

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 125

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 28 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 71 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 032238,2154.417,-15942.579,10,1.3,11,9.8 TGT_LATLONG 2154.185,-15941.805

_CALLS 2 TGT_RADIUS 400.000

_XMS_NAKs 4 KALMAN_CONTROL 0.277,-0.141

_XMS_TOUTs 0 KALMAN_X -99155.8,-1323.0,107.1,99018.9,-857.9

_SM_DEPTHo 0.81 KALMAN_Y 22381.9,552.3,-128.7,-25599.3,495.8

_SM_ANGLEo -69.0 MHEAD_RNG_PITCHd_Wd 107.1,1771,-13.9,-10.000

GPS2 033713,2154.552,-15942.757,14,1.4,14,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.310 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobNE

Post-dive calculations and measurements:

FINISH -0.1,1.011267 MM_CLLLayer 0.03

SM_CCo 5412,0.00,0.000,0,0,924,493.54 MM_CfgFile 0.30

SM_GC 0.82,14.68,0.00,0.00,0.041,0.000,0.000,125,2631,924,-13.59,0.08,493.54 _24V_AH 23.8,20.933

IRIDIUM_FIX 2148.09,-15942.95,291098,030340 _10V_AH 10.0,7.052

TT8_MAMPS 0.057525 DATA_FILE_SIZE 15861,497

HUMID 1851 CAP_FILE_SIZE 221337,0

INTERNAL_PRESSURE 11.4458 CFSIZE 260034560,249262080

TCM_TEMP 24.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 040809,050931,2154.293,-15942.572,41,1.6,42,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 178 142.59 SBE_CT 321 24 183.58

Roll_motor 85 69 142.78 nil 0 0 0.00

VBD_pump_during_apogee 876 628 13102.26 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 103 138.24 nil 0 0 0.00

Iridium_during_connect 62 160 238.75 GUMSTIX 135 1000 3219.00

Iridium_during_xfer 564 223 2995.19

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 40 1000 963.85

GPS 14 50 7.49

TT8 993 18 178.88

LPSleep 2308 0 9.00

TT8_Active 845 18 152.22

TT8_Sampling 1047 38 397.99

TT8_CF8 1092 44 480.53

TT8_Kalman 33 80 26.68

Analog_circuits 1585 12 190.27

GPS_charging 0 0 0.00

Compass 998 8 79.87

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 -74.45 0.000 2 0.000 0.000 122 2635 3432

97 -1.43 -219.0 3.7 -8.3 11 126 15.93 2.38 -5.80 0.000 4 0.179 0.043 2781 1240 3831

379 -1.43 -219.0 63.8 -14.0 38 387 0.00 2.42 0.00 0.000 6 0.000 0.035 2781 2625 3832

450 -1.43 -219.0 73.8 -14.4 45 454 0.00 2.35 0.00 0.000 4 0.000 0.030 2781 1239 3832

502 -1.43 -219.0 81.7 -15.7 49 506 0.00 2.40 0.00 0.000 6 0.000 0.035 2781 2633 3833

573 -1.43 -219.0 91.2 -12.8 55 577 0.00 2.28 0.00 0.000 4 0.000 0.061 2781 3888 3833

657 -1.43 -219.0 100.4 -12.6 62 661 0.00 2.10 0.00 0.000 6 0.000 0.028 2781 2613 3834

732 -1.43 -219.0 110.8 -13.6 69 736 0.00 2.33 0.00 0.000 4 0.000 0.032 2781 1239 3834

815 -1.43 -219.0 121.6 -12.9 76 820 0.00 2.40 0.00 0.000 6 0.000 0.035 2781 2631 3834

886 -1.43 -219.0 130.1 -12.4 82 887 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2631 3834

950 -1.43 -219.0 138.0 -12.4 88 951 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2631 3835

1013 -1.43 -219.0 145.9 -12.6 94 1015 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2631 3835

1077 -1.43 -219.0 153.9 -12.0 100 1081 0.00 2.30 0.00 0.000 4 0.000 0.067 2781 3886 3835

1120 -1.43 -219.0 159.3 -12.3 103 1128 0.00 2.10 0.00 0.000 6 0.000 0.028 2781 2632 3835

1190 -1.43 -219.0 167.3 -12.2 110 1191 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2632 3835

1255 -1.43 -219.0 174.7 -11.5 116 1256 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2632 3835

1319 -1.43 -219.0 182.4 -12.4 122 1320 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2632 3835

1384 -1.43 -219.0 190.3 -11.9 128 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2632 3835

1447 -1.43 -219.0 197.5 -11.3 134 1448 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2632 3835

1510 -1.43 -219.0 204.5 -11.2 140 1514 0.00 2.33 0.00 0.000 4 0.000 0.067 2781 3891 3835

1586 -1.43 -219.0 213.9 -11.5 146 1595 0.00 2.12 0.00 0.000 6 0.000 0.028 2781 2634 3835

1657 -1.43 -219.0 221.1 -9.8 153 1662 0.00 2.40 0.00 0.000 4 0.000 0.037 2781 1230 3835

1701 -1.43 -219.0 225.6 -9.7 156 1709 0.00 2.42 0.00 0.000 6 0.000 0.038 2781 2630 3835

1772 -1.43 -219.0 231.8 -9.1 163 1776 0.00 2.33 0.00 0.000 4 0.000 0.069 2781 3893 3834

1804 -1.43 -219.0 235.3 -10.6 165 1812 0.00 2.15 0.00 0.000 6 0.000 0.030 2781 2626 3835

1876 -1.43 -219.0 241.9 -9.6 172 1877 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2626 3835

1940 -1.43 -219.0 248.0 -9.5 178 1944 0.00 2.38 0.00 0.000 4 0.000 0.038 2781 1239 3835

1992 -1.43 -219.0 252.9 -9.2 182 1996 0.00 2.42 0.00 0.000 6 0.000 0.039 2781 2634 3835

2063 -1.43 -219.0 259.0 -8.3 188 2064 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2634 3835

2126 -1.43 -219.0 263.7 -7.5 194 2127 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2634 3834

2190 -1.43 -219.0 268.8 -8.0 200 2191 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2634 3834

2210 end dive: TARGET_DEPTH_EXCEEDED

state 2210 begin apogee

2215 -0.42 0.0 270.5 8.0 202 2495 1.00 0.00 270.85 0.628 6 0.072 0.000 3000 2533 2936

2496 end apogee: CONTROL_FINISHED_OK

state 2496 begin climb

2498 1.43 219.0 281.8 0.0 230 2784 1.83 2.53 270.60 0.617 4 0.048 0.043 3409 1129 2043

2968 1.50 277.9 253.3 8.2 270 3048 0.00 2.47 74.05 0.607 6 0.000 0.038 3409 2531 1802

3109 1.50 277.9 239.8 10.0 283 3110 0.00 0.00 0.00 0.000 6 0.000 0.000 3409 2531 1799

3174 1.50 280.5 233.4 9.9 289 3175 0.00 0.00 0.00 0.000 6 0.000 0.000 3410 2531 1798

3238 1.50 280.5 226.6 10.6 295 3239 0.00 0.00 0.00 0.000 6 0.000 0.000 3410 2531 1798

3301 1.51 286.7 220.2 9.8 301 3314 0.00 0.00 10.90 0.555 6 0.000 0.000 3409 2531 1767

3374 1.55 315.2 213.3 9.1 308 3423 0.10 2.53 38.05 0.601 4 0.058 0.041 3444 1143 1650

3439 1.55 315.2 206.1 11.0 313 3447 0.00 2.50 0.00 0.000 6 0.000 0.039 3444 2532 1649

3510 1.55 315.2 198.0 11.4 320 3515 0.00 2.53 0.00 0.000 4 0.000 0.070 3444 3887 1647

3566 1.55 315.2 190.7 12.8 324 3573 0.00 2.35 0.00 0.000 6 0.000 0.034 3444 2518 1647

3637 1.55 315.2 182.6 11.8 331 3638 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2517 1646

3700 1.55 315.2 174.9 12.2 337 3701 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2517 1646

3764 1.55 315.2 166.6 13.0 343 3765 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2517 1645

3828 1.55 315.2 158.7 12.2 349 3829 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2517 1645

3892 1.55 315.2 150.5 12.7 355 3896 0.00 2.55 0.00 0.000 4 0.000 0.065 3444 3894 1644

3934 1.55 315.2 144.6 13.2 358 3943 0.00 2.35 0.00 0.000 6 0.000 0.032 3444 2532 1644

4005 1.55 315.2 136.6 11.2 365 4009 0.00 2.42 0.00 0.000 4 0.000 0.039 3444 1137 1643

4044 1.55 315.2 132.4 11.6 368 4048 0.00 2.42 0.00 0.000 6 0.000 0.035 3445 2532 1644

4114 1.55 315.2 124.9 10.4 374 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2532 1643

4178 1.55 315.2 118.1 10.9 380 4182 0.00 2.50 0.00 0.000 4 0.000 0.064 3444 3895 1643

4241 1.55 315.2 111.0 11.8 385 4245 0.00 2.33 0.00 0.000 6 0.000 0.031 3444 2521 1643

4312 1.55 315.2 103.3 10.5 391 4316 0.00 2.53 0.00 0.000 4 0.000 0.062 3444 3895 1643

4367 1.55 315.2 97.3 10.5 395 4374 0.00 2.33 0.00 0.000 6 0.000 0.031 3444 2519 1642

4437 1.57 336.8 90.8 9.3 402 4468 0.00 0.00 26.15 0.566 6 0.000 0.000 3444 2518 1563

4530 1.57 336.8 81.0 10.4 411 4534 0.00 2.40 0.00 0.000 4 0.000 0.037 3445 1134 1561

4650 1.63 380.7 69.9 8.6 421 4714 0.00 2.42 56.05 0.556 6 0.000 0.033 3444 2537 1383

4785 1.68 421.4 57.9 8.7 433 4844 0.00 2.55 51.47 0.535 4 0.000 0.060 3444 3887 1218

4916 1.68 421.4 44.2 10.8 444 4924 0.00 2.30 0.00 0.000 6 0.000 0.029 3444 2521 1216

4986 1.68 421.4 36.1 12.0 451 4987 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2519 1216

5051 1.68 421.4 28.9 11.2 457 5052 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2518 1216

5115 1.68 421.4 21.5 11.3 463 5116 0.00 0.00 0.00 0.000 6 0.000 0.000 3444 2519 1216

5179 1.76 492.2 15.4 7.8 473 5262 0.00 0.00 78.25 0.503 6 0.000 0.000 3444 2518 929

5288 end climb: SURFACE_DEPTH_REACHED

state 5288 begin surface coast

5328 end surface coast: CONTROL_FINISHED_OK

state 5329 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	71	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	28	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	125	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	-58938.043	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	032238,2154.417,-15942.579,10,1.3,11,9.8	TGT_LATLONG	2154.185,-15941.805
_CALLS	2	TGT_RADIUS	400.000
_XMS_NAKs	4	KALMAN_CONTROL	0.277,-0.141
_XMS_TOUTs	0	KALMAN_X	-99155.8,-1323.0,107.1,99018.9,-857.9
_SM_DEPTHo	0.81	KALMAN_Y	22381.9,552.3,-128.7,-25599.3,495.8
_SM_ANGLEo	-69.0	MHEAD_RNG_PITCHd_Wd	107.1,1771,-13.9,-10.000
GPS2	033713,2154.552,-15942.757,14,1.4,14,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.310	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobNE

FINISH	-0.1,1.011267	MM_CLLLayer	0.03
SM_CCo	5412,0.00,0.000,0,0,924,493.54	MM_CfgFile	0.30
SM_GC	0.82,14.68,0.00,0.00,0.041,0.000,0.000,125,2631,924,-13.59,0.08,493.54	_24V_AH	23.8,20.933
IRIDIUM_FIX	2148.09,-15942.95,291098,030340	_10V_AH	10.0,7.052
TT8_MAMPS	0.057525	DATA_FILE_SIZE	15861,497
HUMID	1851	CAP_FILE_SIZE	221337,0
INTERNAL_PRESSURE	11.4458	CFSIZE	260034560,249262080
TCM_TEMP	24.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	040809,050931,2154.293,-15942.572,41,1.6,42,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	178	142.59	SBE_CT	321	24	183.58
Roll_motor	85	69	142.78	nil	0	0	0.00
VBD_pump_during_apogee	876	628	13102.26	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	103	138.24	nil	0	0	0.00
Iridium_during_connect	62	160	238.75	GUMSTIX	135	1000	3219.00
Iridium_during_xfer	564	223	2995.19
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	40	1000	963.85
GPS	14	50	7.49
TT8	993	18	178.88
LPSleep	2308	0	9.00
TT8_Active	845	18	152.22
TT8_Sampling	1047	38	397.99
TT8_CF8	1092	44	480.53
TT8_Kalman	33	80	26.68
Analog_circuits	1585	12	190.27
GPS_charging	0	0	0.00
Compass	998	8	79.87
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	-74.45	0.000	2	0.000	0.000	122	2635	3432
97	-1.43	-219.0	3.7	-8.3	11	126	15.93	2.38	-5.80	0.000	4	0.179	0.043	2781	1240	3831
379	-1.43	-219.0	63.8	-14.0	38	387	0.00	2.42	0.00	0.000	6	0.000	0.035	2781	2625	3832
450	-1.43	-219.0	73.8	-14.4	45	454	0.00	2.35	0.00	0.000	4	0.000	0.030	2781	1239	3832
502	-1.43	-219.0	81.7	-15.7	49	506	0.00	2.40	0.00	0.000	6	0.000	0.035	2781	2633	3833
573	-1.43	-219.0	91.2	-12.8	55	577	0.00	2.28	0.00	0.000	4	0.000	0.061	2781	3888	3833
657	-1.43	-219.0	100.4	-12.6	62	661	0.00	2.10	0.00	0.000	6	0.000	0.028	2781	2613	3834
732	-1.43	-219.0	110.8	-13.6	69	736	0.00	2.33	0.00	0.000	4	0.000	0.032	2781	1239	3834
815	-1.43	-219.0	121.6	-12.9	76	820	0.00	2.40	0.00	0.000	6	0.000	0.035	2781	2631	3834
886	-1.43	-219.0	130.1	-12.4	82	887	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2631	3834
950	-1.43	-219.0	138.0	-12.4	88	951	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2631	3835
1013	-1.43	-219.0	145.9	-12.6	94	1015	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2631	3835
1077	-1.43	-219.0	153.9	-12.0	100	1081	0.00	2.30	0.00	0.000	4	0.000	0.067	2781	3886	3835
1120	-1.43	-219.0	159.3	-12.3	103	1128	0.00	2.10	0.00	0.000	6	0.000	0.028	2781	2632	3835
1190	-1.43	-219.0	167.3	-12.2	110	1191	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2632	3835
1255	-1.43	-219.0	174.7	-11.5	116	1256	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2632	3835
1319	-1.43	-219.0	182.4	-12.4	122	1320	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2632	3835
1384	-1.43	-219.0	190.3	-11.9	128	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2632	3835
1447	-1.43	-219.0	197.5	-11.3	134	1448	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2632	3835
1510	-1.43	-219.0	204.5	-11.2	140	1514	0.00	2.33	0.00	0.000	4	0.000	0.067	2781	3891	3835
1586	-1.43	-219.0	213.9	-11.5	146	1595	0.00	2.12	0.00	0.000	6	0.000	0.028	2781	2634	3835
1657	-1.43	-219.0	221.1	-9.8	153	1662	0.00	2.40	0.00	0.000	4	0.000	0.037	2781	1230	3835
1701	-1.43	-219.0	225.6	-9.7	156	1709	0.00	2.42	0.00	0.000	6	0.000	0.038	2781	2630	3835
1772	-1.43	-219.0	231.8	-9.1	163	1776	0.00	2.33	0.00	0.000	4	0.000	0.069	2781	3893	3834
1804	-1.43	-219.0	235.3	-10.6	165	1812	0.00	2.15	0.00	0.000	6	0.000	0.030	2781	2626	3835
1876	-1.43	-219.0	241.9	-9.6	172	1877	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2626	3835
1940	-1.43	-219.0	248.0	-9.5	178	1944	0.00	2.38	0.00	0.000	4	0.000	0.038	2781	1239	3835
1992	-1.43	-219.0	252.9	-9.2	182	1996	0.00	2.42	0.00	0.000	6	0.000	0.039	2781	2634	3835
2063	-1.43	-219.0	259.0	-8.3	188	2064	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2634	3835
2126	-1.43	-219.0	263.7	-7.5	194	2127	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2634	3834
2190	-1.43	-219.0	268.8	-8.0	200	2191	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2634	3834
2210	end dive: TARGET_DEPTH_EXCEEDED
state	2210	begin apogee
2215	-0.42	0.0	270.5	8.0	202	2495	1.00	0.00	270.85	0.628	6	0.072	0.000	3000	2533	2936
2496	end apogee: CONTROL_FINISHED_OK
state	2496	begin climb
2498	1.43	219.0	281.8	0.0	230	2784	1.83	2.53	270.60	0.617	4	0.048	0.043	3409	1129	2043
2968	1.50	277.9	253.3	8.2	270	3048	0.00	2.47	74.05	0.607	6	0.000	0.038	3409	2531	1802
3109	1.50	277.9	239.8	10.0	283	3110	0.00	0.00	0.00	0.000	6	0.000	0.000	3409	2531	1799
3174	1.50	280.5	233.4	9.9	289	3175	0.00	0.00	0.00	0.000	6	0.000	0.000	3410	2531	1798
3238	1.50	280.5	226.6	10.6	295	3239	0.00	0.00	0.00	0.000	6	0.000	0.000	3410	2531	1798
3301	1.51	286.7	220.2	9.8	301	3314	0.00	0.00	10.90	0.555	6	0.000	0.000	3409	2531	1767
3374	1.55	315.2	213.3	9.1	308	3423	0.10	2.53	38.05	0.601	4	0.058	0.041	3444	1143	1650
3439	1.55	315.2	206.1	11.0	313	3447	0.00	2.50	0.00	0.000	6	0.000	0.039	3444	2532	1649
3510	1.55	315.2	198.0	11.4	320	3515	0.00	2.53	0.00	0.000	4	0.000	0.070	3444	3887	1647
3566	1.55	315.2	190.7	12.8	324	3573	0.00	2.35	0.00	0.000	6	0.000	0.034	3444	2518	1647
3637	1.55	315.2	182.6	11.8	331	3638	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2517	1646
3700	1.55	315.2	174.9	12.2	337	3701	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2517	1646
3764	1.55	315.2	166.6	13.0	343	3765	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2517	1645
3828	1.55	315.2	158.7	12.2	349	3829	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2517	1645
3892	1.55	315.2	150.5	12.7	355	3896	0.00	2.55	0.00	0.000	4	0.000	0.065	3444	3894	1644
3934	1.55	315.2	144.6	13.2	358	3943	0.00	2.35	0.00	0.000	6	0.000	0.032	3444	2532	1644
4005	1.55	315.2	136.6	11.2	365	4009	0.00	2.42	0.00	0.000	4	0.000	0.039	3444	1137	1643
4044	1.55	315.2	132.4	11.6	368	4048	0.00	2.42	0.00	0.000	6	0.000	0.035	3445	2532	1644
4114	1.55	315.2	124.9	10.4	374	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2532	1643
4178	1.55	315.2	118.1	10.9	380	4182	0.00	2.50	0.00	0.000	4	0.000	0.064	3444	3895	1643
4241	1.55	315.2	111.0	11.8	385	4245	0.00	2.33	0.00	0.000	6	0.000	0.031	3444	2521	1643
4312	1.55	315.2	103.3	10.5	391	4316	0.00	2.53	0.00	0.000	4	0.000	0.062	3444	3895	1643
4367	1.55	315.2	97.3	10.5	395	4374	0.00	2.33	0.00	0.000	6	0.000	0.031	3444	2519	1642
4437	1.57	336.8	90.8	9.3	402	4468	0.00	0.00	26.15	0.566	6	0.000	0.000	3444	2518	1563
4530	1.57	336.8	81.0	10.4	411	4534	0.00	2.40	0.00	0.000	4	0.000	0.037	3445	1134	1561
4650	1.63	380.7	69.9	8.6	421	4714	0.00	2.42	56.05	0.556	6	0.000	0.033	3444	2537	1383
4785	1.68	421.4	57.9	8.7	433	4844	0.00	2.55	51.47	0.535	4	0.000	0.060	3444	3887	1218
4916	1.68	421.4	44.2	10.8	444	4924	0.00	2.30	0.00	0.000	6	0.000	0.029	3444	2521	1216
4986	1.68	421.4	36.1	12.0	451	4987	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2519	1216
5051	1.68	421.4	28.9	11.2	457	5052	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2518	1216
5115	1.68	421.4	21.5	11.3	463	5116	0.00	0.00	0.00	0.000	6	0.000	0.000	3444	2519	1216
5179	1.76	492.2	15.4	7.8	473	5262	0.00	0.00	78.25	0.503	6	0.000	0.000	3444	2518	929
5288	end climb: SURFACE_DEPTH_REACHED
state	5288	begin surface coast
5328	end surface coast: CONTROL_FINISHED_OK
state	5329	begin surface