Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 94 * 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 94 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 375 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 40 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 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 -59423.152 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 250 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 375

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 -59423.152

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 40 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 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 94 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 164736,2153.622,-15942.004,34,1.1,34,9.8 TGT_LATLONG 2154.185,-15941.805

_CALLS 1 TGT_RADIUS 1000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.321,-0.048

_XMS_TOUTs 0 KALMAN_X -154375.3,1522.2,-79.4,152126.4,-1383.8

_SM_DEPTHo 0.74 KALMAN_Y 45232.9,-693.9,53.3,-48804.0,498.3

_SM_ANGLEo -67.2 MHEAD_RNG_PITCHd_Wd 88.7,1315,-13.1,-10.000

GPS2 170008,2153.784,-15942.437,15,1.1,15,9.8 D_GRID 270

SPEED_LIMITS 0.100,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobNE

Post-dive calculations and measurements:

FINISH -0.1,1.013066 MM_CLLLayer 0.03

SM_CCo 5326,0.00,0.000,0,0,1283,405.48 MM_CfgFile 0.30

SM_GC 1.12,14.62,0.00,0.00,0.042,0.000,0.000,123,2638,1283,-13.59,0.28,405.48 _24V_AH 23.7,26.291

IRIDIUM_FIX 2145.77,-15940.77,311098,131340 _10V_AH 10.0,9.720

TT8_MAMPS 0.079001 DATA_FILE_SIZE 15835,495

HUMID 1831 CAP_FILE_SIZE 218119,0

INTERNAL_PRESSURE 11.4262 CFSIZE 260034560,245510144

TCM_TEMP 24.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 060809,183032,2154.150,-15942.727,9,1.8,10,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 181 144.97 SBE_CT 321 24 182.69

Roll_motor 76 72 132.11 nil 0 0 0.00

VBD_pump_during_apogee 812 632 12164.49 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 25 103 62.69 nil 0 0 0.00

Iridium_during_connect 40 160 155.45 GUMSTIX 160 1000 3815.61

Iridium_during_xfer 477 223 2521.89

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 39 1000 943.35

GPS 15 50 7.68

TT8 995 18 179.22

LPSleep 2282 0 8.90

TT8_Active 808 18 145.59

TT8_Sampling 996 38 378.55

TT8_CF8 962 44 423.32

TT8_Kalman 33 80 26.68

Analog_circuits 1509 12 181.11

GPS_charging 0 0 0.00

Compass 946 8 75.70

RAFOS 0 0 0.00

Transponder 0 0 0.00

Guidance and control:

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

13 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.39 -243.3 0.0 0.0 0 99 0.00 0.00 -80.03 0.000 2 0.000 0.000 124 2640 3564

101 -1.39 -243.3 4.3 -10.6 12 130 16.12 0.00 -5.07 0.000 6 0.182 0.000 2786 2641 3932

192 -1.39 -243.3 34.8 -20.6 22 193 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2641 3933

257 -1.39 -243.3 45.9 -17.5 28 258 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2641 3931

321 -1.39 -243.3 55.6 -15.2 34 322 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2641 3931

384 -1.39 -243.3 65.1 -14.1 40 385 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2641 3928

448 -1.39 -243.3 74.8 -15.5 46 452 0.00 2.28 0.00 0.000 4 0.000 0.063 2786 3884 3927

480 -1.39 -243.3 80.5 -16.4 48 488 0.00 2.15 0.00 0.000 6 0.000 0.030 2786 2626 3924

551 -1.39 -243.3 91.7 -16.3 55 552 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2625 3929

615 -1.39 -243.3 101.8 -15.8 61 619 0.00 2.33 0.00 0.000 4 0.000 0.064 2785 3888 3929

636 -1.39 -243.3 105.2 -14.8 62 644 0.00 2.15 0.00 0.000 6 0.000 0.029 2786 2617 3929

706 -1.39 -243.3 113.8 -12.2 69 707 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2617 3929

771 -1.39 -243.3 121.1 -11.7 75 775 0.00 2.35 0.00 0.000 4 0.000 0.033 2786 1239 3930

803 -1.39 -243.3 125.2 -12.1 77 811 0.00 2.42 0.00 0.000 6 0.000 0.036 2786 2620 3930

873 -1.39 -243.3 133.0 -11.3 84 877 0.00 2.35 0.00 0.000 4 0.000 0.067 2786 3894 3931

962 -1.39 -243.3 142.9 -11.5 91 969 0.00 2.15 0.00 0.000 6 0.000 0.029 2786 2622 3931

1033 -1.39 -243.3 150.6 -10.9 98 1034 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2622 3931

1097 -1.39 -243.3 157.6 -10.8 104 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2622 3930

1160 -1.39 -243.3 164.7 -11.4 110 1162 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2622 3930

1224 -1.39 -243.3 171.5 -10.6 116 1226 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2622 3930

1288 -1.39 -243.3 178.4 -10.9 122 1289 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2622 3930

1353 -1.39 -243.3 184.8 -9.9 128 1355 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2622 3930

1417 -1.39 -243.3 190.7 -9.4 134 1421 0.00 2.38 0.00 0.000 4 0.000 0.037 2785 1240 3930

1449 -1.39 -243.3 194.2 -9.6 136 1457 0.00 2.45 0.00 0.000 6 0.000 0.038 2786 2629 3930

1520 -1.39 -243.3 201.3 -10.4 143 1524 0.00 2.33 0.00 0.000 4 0.000 0.070 2786 3887 3930

1594 -1.39 -243.3 209.9 -12.2 149 1598 0.00 2.12 0.00 0.000 6 0.000 0.031 2786 2624 3930

1669 -1.39 -243.3 218.5 -11.9 156 1670 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2623 3930

1734 -1.39 -243.3 225.9 -11.4 162 1735 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2623 3930

1797 -1.39 -243.3 233.1 -11.0 168 1798 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2623 3930

1861 -1.39 -243.3 240.4 -11.6 174 1865 0.00 2.40 0.00 0.000 4 0.000 0.039 2786 1235 3930

1939 -1.39 -243.3 249.3 -10.8 180 1946 0.00 2.45 0.00 0.000 6 0.000 0.039 2786 2634 3930

2009 -1.39 -243.3 256.2 -10.1 187 2010 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2634 3930

2074 -1.39 -243.3 262.8 -10.1 193 2078 0.00 2.35 0.00 0.000 4 0.000 0.073 2786 3894 3930

2126 -1.39 -243.3 268.0 -9.8 197 2130 0.00 2.15 0.00 0.000 6 0.000 0.033 2786 2625 3930

2151 end dive: TARGET_DEPTH_EXCEEDED

state 2151 begin apogee

2156 -0.42 0.0 270.7 9.5 199 2466 1.02 0.00 300.15 0.632 6 0.071 0.000 3005 2533 2936

2467 end apogee: CONTROL_FINISHED_OK

state 2467 begin climb

2469 1.39 243.3 283.6 0.0 230 2783 1.75 2.53 303.12 0.617 4 0.048 0.044 3398 1133 1944

2934 1.39 243.3 248.3 11.1 269 2942 0.00 2.50 0.00 0.000 6 0.000 0.038 3397 2529 1940

3005 1.39 243.3 241.3 10.3 276 3006 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2529 1940

3070 1.40 255.9 235.0 9.6 282 3094 0.00 2.53 16.12 0.571 4 0.000 0.043 3398 1129 1892

3189 1.40 255.9 223.4 10.2 292 3196 0.00 2.50 0.00 0.000 6 0.000 0.039 3397 2537 1890

3260 1.44 282.6 216.9 9.3 299 3300 0.00 2.58 34.62 0.598 4 0.000 0.072 3397 3892 1783

3368 1.44 282.6 205.6 10.9 308 3373 0.00 2.35 0.00 0.000 6 0.000 0.035 3397 2529 1781

3440 1.48 316.2 199.0 9.1 314 3489 0.00 0.00 44.30 0.596 6 0.000 0.000 3397 2528 1646

3553 1.51 341.6 189.0 9.3 325 3593 0.12 2.53 33.72 0.586 4 0.052 0.043 3434 1140 1543

3644 1.51 341.6 178.3 12.4 333 3648 0.00 2.47 0.00 0.000 6 0.000 0.038 3434 2538 1541

3720 1.51 341.6 168.5 13.0 340 3721 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2538 1540

3786 1.51 341.6 161.2 11.1 346 3787 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2538 1539

3849 1.51 341.6 154.0 11.4 352 3853 0.00 2.50 0.00 0.000 4 0.000 0.067 3434 3886 1539

3955 1.51 341.6 140.4 13.3 361 3959 0.00 2.33 0.00 0.000 6 0.000 0.033 3434 2526 1538

4025 1.51 341.6 131.8 12.2 367 4027 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2525 1538

4089 1.51 341.6 123.8 12.4 373 4094 0.00 2.42 0.00 0.000 4 0.000 0.040 3434 1137 1538

4145 1.51 341.6 116.5 13.1 377 4152 0.00 2.45 0.00 0.000 6 0.000 0.037 3434 2534 1537

4216 1.51 341.6 108.0 12.7 384 4220 0.00 2.50 0.00 0.000 4 0.000 0.065 3434 3889 1537

4300 1.51 341.6 97.5 12.1 391 4304 0.00 2.33 0.00 0.000 6 0.000 0.032 3434 2526 1536

4370 1.51 341.6 90.1 10.5 397 4371 0.00 0.00 0.00 0.000 6 0.000 0.000 3435 2525 1536

4434 1.51 341.6 82.9 11.1 403 4435 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2525 1536

4498 1.51 341.6 76.0 10.7 409 4499 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2525 1536

4562 1.51 341.6 69.1 10.6 415 4563 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2525 1535

4627 1.55 379.2 63.3 9.0 421 4676 0.00 0.00 46.47 0.549 6 0.000 0.000 3434 2525 1391

4739 1.58 399.7 52.3 9.4 432 4773 0.00 2.53 27.50 0.528 4 0.000 0.061 3434 3887 1305

4800 1.58 399.7 45.3 11.8 437 4808 0.00 2.35 0.00 0.000 6 0.000 0.031 3434 2524 1304

4871 1.58 399.7 37.7 10.9 444 4872 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2522 1304

4936 1.58 399.7 30.9 10.8 450 4937 0.00 0.00 0.00 0.000 6 0.000 0.000 3435 2522 1303

5000 1.58 399.7 24.2 10.7 456 5001 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2522 1303

5063 1.58 399.7 16.9 10.6 464 5069 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2522 1303

5138 1.59 404.5 9.2 9.9 477 5146 0.00 0.00 6.10 0.417 6 0.000 0.000 3434 2522 1287

5195 end climb: SURFACE_DEPTH_REACHED

state 5195 begin surface coast

5240 end surface coast: CONTROL_FINISHED_OK

state 5240 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	94	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	375	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	40	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	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	-59423.152	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	250	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	164736,2153.622,-15942.004,34,1.1,34,9.8	TGT_LATLONG	2154.185,-15941.805
_CALLS	1	TGT_RADIUS	1000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.321,-0.048
_XMS_TOUTs	0	KALMAN_X	-154375.3,1522.2,-79.4,152126.4,-1383.8
_SM_DEPTHo	0.74	KALMAN_Y	45232.9,-693.9,53.3,-48804.0,498.3
_SM_ANGLEo	-67.2	MHEAD_RNG_PITCHd_Wd	88.7,1315,-13.1,-10.000
GPS2	170008,2153.784,-15942.437,15,1.1,15,9.8	D_GRID	270
SPEED_LIMITS	0.100,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobNE

FINISH	-0.1,1.013066	MM_CLLLayer	0.03
SM_CCo	5326,0.00,0.000,0,0,1283,405.48	MM_CfgFile	0.30
SM_GC	1.12,14.62,0.00,0.00,0.042,0.000,0.000,123,2638,1283,-13.59,0.28,405.48	_24V_AH	23.7,26.291
IRIDIUM_FIX	2145.77,-15940.77,311098,131340	_10V_AH	10.0,9.720
TT8_MAMPS	0.079001	DATA_FILE_SIZE	15835,495
HUMID	1831	CAP_FILE_SIZE	218119,0
INTERNAL_PRESSURE	11.4262	CFSIZE	260034560,245510144
TCM_TEMP	24.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	060809,183032,2154.150,-15942.727,9,1.8,10,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	181	144.97	SBE_CT	321	24	182.69
Roll_motor	76	72	132.11	nil	0	0	0.00
VBD_pump_during_apogee	812	632	12164.49	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	25	103	62.69	nil	0	0	0.00
Iridium_during_connect	40	160	155.45	GUMSTIX	160	1000	3815.61
Iridium_during_xfer	477	223	2521.89
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	39	1000	943.35
GPS	15	50	7.68
TT8	995	18	179.22
LPSleep	2282	0	8.90
TT8_Active	808	18	145.59
TT8_Sampling	996	38	378.55
TT8_CF8	962	44	423.32
TT8_Kalman	33	80	26.68
Analog_circuits	1509	12	181.11
GPS_charging	0	0	0.00
Compass	946	8	75.70
RAFOS	0	0	0.00
Transponder	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
13	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.39	-243.3	0.0	0.0	0	99	0.00	0.00	-80.03	0.000	2	0.000	0.000	124	2640	3564
101	-1.39	-243.3	4.3	-10.6	12	130	16.12	0.00	-5.07	0.000	6	0.182	0.000	2786	2641	3932
192	-1.39	-243.3	34.8	-20.6	22	193	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2641	3933
257	-1.39	-243.3	45.9	-17.5	28	258	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2641	3931
321	-1.39	-243.3	55.6	-15.2	34	322	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2641	3931
384	-1.39	-243.3	65.1	-14.1	40	385	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2641	3928
448	-1.39	-243.3	74.8	-15.5	46	452	0.00	2.28	0.00	0.000	4	0.000	0.063	2786	3884	3927
480	-1.39	-243.3	80.5	-16.4	48	488	0.00	2.15	0.00	0.000	6	0.000	0.030	2786	2626	3924
551	-1.39	-243.3	91.7	-16.3	55	552	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2625	3929
615	-1.39	-243.3	101.8	-15.8	61	619	0.00	2.33	0.00	0.000	4	0.000	0.064	2785	3888	3929
636	-1.39	-243.3	105.2	-14.8	62	644	0.00	2.15	0.00	0.000	6	0.000	0.029	2786	2617	3929
706	-1.39	-243.3	113.8	-12.2	69	707	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2617	3929
771	-1.39	-243.3	121.1	-11.7	75	775	0.00	2.35	0.00	0.000	4	0.000	0.033	2786	1239	3930
803	-1.39	-243.3	125.2	-12.1	77	811	0.00	2.42	0.00	0.000	6	0.000	0.036	2786	2620	3930
873	-1.39	-243.3	133.0	-11.3	84	877	0.00	2.35	0.00	0.000	4	0.000	0.067	2786	3894	3931
962	-1.39	-243.3	142.9	-11.5	91	969	0.00	2.15	0.00	0.000	6	0.000	0.029	2786	2622	3931
1033	-1.39	-243.3	150.6	-10.9	98	1034	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2622	3931
1097	-1.39	-243.3	157.6	-10.8	104	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2622	3930
1160	-1.39	-243.3	164.7	-11.4	110	1162	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2622	3930
1224	-1.39	-243.3	171.5	-10.6	116	1226	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2622	3930
1288	-1.39	-243.3	178.4	-10.9	122	1289	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2622	3930
1353	-1.39	-243.3	184.8	-9.9	128	1355	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2622	3930
1417	-1.39	-243.3	190.7	-9.4	134	1421	0.00	2.38	0.00	0.000	4	0.000	0.037	2785	1240	3930
1449	-1.39	-243.3	194.2	-9.6	136	1457	0.00	2.45	0.00	0.000	6	0.000	0.038	2786	2629	3930
1520	-1.39	-243.3	201.3	-10.4	143	1524	0.00	2.33	0.00	0.000	4	0.000	0.070	2786	3887	3930
1594	-1.39	-243.3	209.9	-12.2	149	1598	0.00	2.12	0.00	0.000	6	0.000	0.031	2786	2624	3930
1669	-1.39	-243.3	218.5	-11.9	156	1670	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2623	3930
1734	-1.39	-243.3	225.9	-11.4	162	1735	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2623	3930
1797	-1.39	-243.3	233.1	-11.0	168	1798	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2623	3930
1861	-1.39	-243.3	240.4	-11.6	174	1865	0.00	2.40	0.00	0.000	4	0.000	0.039	2786	1235	3930
1939	-1.39	-243.3	249.3	-10.8	180	1946	0.00	2.45	0.00	0.000	6	0.000	0.039	2786	2634	3930
2009	-1.39	-243.3	256.2	-10.1	187	2010	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2634	3930
2074	-1.39	-243.3	262.8	-10.1	193	2078	0.00	2.35	0.00	0.000	4	0.000	0.073	2786	3894	3930
2126	-1.39	-243.3	268.0	-9.8	197	2130	0.00	2.15	0.00	0.000	6	0.000	0.033	2786	2625	3930
2151	end dive: TARGET_DEPTH_EXCEEDED
state	2151	begin apogee
2156	-0.42	0.0	270.7	9.5	199	2466	1.02	0.00	300.15	0.632	6	0.071	0.000	3005	2533	2936
2467	end apogee: CONTROL_FINISHED_OK
state	2467	begin climb
2469	1.39	243.3	283.6	0.0	230	2783	1.75	2.53	303.12	0.617	4	0.048	0.044	3398	1133	1944
2934	1.39	243.3	248.3	11.1	269	2942	0.00	2.50	0.00	0.000	6	0.000	0.038	3397	2529	1940
3005	1.39	243.3	241.3	10.3	276	3006	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2529	1940
3070	1.40	255.9	235.0	9.6	282	3094	0.00	2.53	16.12	0.571	4	0.000	0.043	3398	1129	1892
3189	1.40	255.9	223.4	10.2	292	3196	0.00	2.50	0.00	0.000	6	0.000	0.039	3397	2537	1890
3260	1.44	282.6	216.9	9.3	299	3300	0.00	2.58	34.62	0.598	4	0.000	0.072	3397	3892	1783
3368	1.44	282.6	205.6	10.9	308	3373	0.00	2.35	0.00	0.000	6	0.000	0.035	3397	2529	1781
3440	1.48	316.2	199.0	9.1	314	3489	0.00	0.00	44.30	0.596	6	0.000	0.000	3397	2528	1646
3553	1.51	341.6	189.0	9.3	325	3593	0.12	2.53	33.72	0.586	4	0.052	0.043	3434	1140	1543
3644	1.51	341.6	178.3	12.4	333	3648	0.00	2.47	0.00	0.000	6	0.000	0.038	3434	2538	1541
3720	1.51	341.6	168.5	13.0	340	3721	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2538	1540
3786	1.51	341.6	161.2	11.1	346	3787	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2538	1539
3849	1.51	341.6	154.0	11.4	352	3853	0.00	2.50	0.00	0.000	4	0.000	0.067	3434	3886	1539
3955	1.51	341.6	140.4	13.3	361	3959	0.00	2.33	0.00	0.000	6	0.000	0.033	3434	2526	1538
4025	1.51	341.6	131.8	12.2	367	4027	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2525	1538
4089	1.51	341.6	123.8	12.4	373	4094	0.00	2.42	0.00	0.000	4	0.000	0.040	3434	1137	1538
4145	1.51	341.6	116.5	13.1	377	4152	0.00	2.45	0.00	0.000	6	0.000	0.037	3434	2534	1537
4216	1.51	341.6	108.0	12.7	384	4220	0.00	2.50	0.00	0.000	4	0.000	0.065	3434	3889	1537
4300	1.51	341.6	97.5	12.1	391	4304	0.00	2.33	0.00	0.000	6	0.000	0.032	3434	2526	1536
4370	1.51	341.6	90.1	10.5	397	4371	0.00	0.00	0.00	0.000	6	0.000	0.000	3435	2525	1536
4434	1.51	341.6	82.9	11.1	403	4435	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2525	1536
4498	1.51	341.6	76.0	10.7	409	4499	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2525	1536
4562	1.51	341.6	69.1	10.6	415	4563	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2525	1535
4627	1.55	379.2	63.3	9.0	421	4676	0.00	0.00	46.47	0.549	6	0.000	0.000	3434	2525	1391
4739	1.58	399.7	52.3	9.4	432	4773	0.00	2.53	27.50	0.528	4	0.000	0.061	3434	3887	1305
4800	1.58	399.7	45.3	11.8	437	4808	0.00	2.35	0.00	0.000	6	0.000	0.031	3434	2524	1304
4871	1.58	399.7	37.7	10.9	444	4872	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2522	1304
4936	1.58	399.7	30.9	10.8	450	4937	0.00	0.00	0.00	0.000	6	0.000	0.000	3435	2522	1303
5000	1.58	399.7	24.2	10.7	456	5001	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2522	1303
5063	1.58	399.7	16.9	10.6	464	5069	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2522	1303
5138	1.59	404.5	9.2	9.9	477	5146	0.00	0.00	6.10	0.417	6	0.000	0.000	3434	2522	1287
5195	end climb: SURFACE_DEPTH_REACHED
state	5195	begin surface coast
5240	end surface coast: CONTROL_FINISHED_OK
state	5240	begin surface