Glider dive log

PLUS INP Jul09 * SG117 * Dive index * Mission links * Dive 99 * 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 99 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 270 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 375 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 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 60 UPLOAD_DIVES_MAX -1 VBD_MIN 746 DEVICE2 -1

T_MISSION 125 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 -108441.73 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 250 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 375

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 270 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 60

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 -108441.73

CAPMAXSIZE 100000 HD_C 9.8541004e-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 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 35 VBD_BLEED_AD_RATE 8

C_VBD 2917 MAX_BUOY 250 R_STBD_OVSHOOT 42 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 99 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 031038,2155.684,-15946.081,13,1.1,13,9.8 TGT_LATLONG 2154.185,-15941.805

_CALLS 1 TGT_RADIUS 750.000

_XMS_NAKs 0 KALMAN_CONTROL 0.325,-0.184

_XMS_TOUTs 0 KALMAN_X -139276.7,-1931.2,-53.3,137806.0,-1016.4

_SM_DEPTHo 1.16 KALMAN_Y 58617.1,955.5,73.7,-59479.4,604.0

_SM_ANGLEo -53.4 MHEAD_RNG_PITCHd_Wd 109.7,8332,-19.7,-15.000

GPS2 031813,2155.800,-15946.330,15,1.8,15,9.8 D_GRID 270

SPEED_LIMITS 0.150,0.374 MM_IGNORESAMPLERETURN 0.0

TGT_NAME BobNE

Post-dive calculations and measurements:

FINISH 0.7,1.022912 MM_CLLLayer 0.03

SM_CCo 3755,0.00,0.000,0,0,737,535.00 MM_CfgFile 0.30

SM_GC 1.11,11.40,0.00,0.00,0.026,0.000,0.000,402,1985,737,-9.78,0.40,535.00 _24V_AH 24.0,22.791

IRIDIUM_FIX 2148.09,-15945.93,011198,020238 _10V_AH 10.1,10.041

TT8_MAMPS 0.059826 DATA_FILE_SIZE 9545,351

HUMID 2032 CAP_FILE_SIZE 69195,0

INTERNAL_PRESSURE 7.52959 CFSIZE 260165632,248016896

TCM_TEMP 23.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 070809,042226,2155.744,-15946.498,12,1.8,12,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 181 112.56 SBE_CT 237 24 136.80

Roll_motor 74 66 118.55 nil 0 0 0.00

VBD_pump_during_apogee 645 699 10832.94 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 22 103 56.47 nil 0 0 0.00

Iridium_during_connect 26 160 102.49 GUMSTIX 92 1000 2230.15

Iridium_during_xfer 259 223 1389.41

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 27 1000 664.61

GPS 15 50 7.96

TT8 672 18 122.26

LPSleep 1642 0 6.47

TT8_Active 709 18 129.00

TT8_Sampling 680 38 261.02

TT8_CF8 515 44 229.05

TT8_Kalman 33 80 26.94

Analog_circuits 1201 12 145.58

GPS_charging 0 0 0.00

Compass 646 8 52.23

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

17 -1.81 -243.3 0.0 0.0 0 117 0.00 0.00 -96.80 0.000 2 0.000 0.000 406 1957 3397

120 -1.81 -243.3 4.2 -10.0 16 141 10.32 0.00 -8.32 0.000 6 0.182 0.000 2140 1956 3912

207 -1.81 -243.3 32.1 -26.7 27 211 0.00 2.50 0.00 0.000 4 0.000 0.048 2140 3367 3915

241 -1.81 -243.3 39.9 -24.6 30 245 0.00 2.40 0.00 0.000 6 0.000 0.033 2140 1967 3915

310 -1.81 -243.3 56.3 -22.1 36 315 0.00 2.53 0.00 0.000 4 0.000 0.058 2142 565 3915

343 -1.81 -243.3 63.4 -20.0 38 350 0.00 2.38 0.00 0.000 6 0.000 0.028 2140 1971 3915

413 -1.81 -243.3 77.5 -20.7 45 417 0.00 2.45 0.00 0.000 4 0.000 0.049 2140 3362 3916

457 -1.81 -243.3 86.8 -19.7 48 464 0.00 2.40 0.00 0.000 6 0.000 0.033 2140 1959 3916

527 -1.81 -243.3 100.7 -19.3 55 532 0.00 2.50 0.00 0.000 4 0.000 0.049 2140 3369 3917

560 -1.81 -243.3 107.5 -19.7 57 567 0.00 2.40 0.00 0.000 6 0.000 0.033 2140 1965 3917

630 -1.81 -243.3 120.9 -19.2 64 631 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1965 3917

694 -1.81 -243.3 133.8 -20.6 70 695 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1965 3917

758 -1.81 -243.3 146.8 -20.5 76 762 0.00 2.47 0.00 0.000 4 0.000 0.051 2141 3362 3918

786 -1.81 -243.3 152.4 -20.5 78 790 0.00 2.40 0.00 0.000 6 0.000 0.035 2140 1960 3918

855 -1.81 -243.3 166.6 -19.8 84 860 0.00 2.53 0.00 0.000 4 0.000 0.061 2140 566 3918

884 -1.81 -243.3 172.2 -20.1 86 888 0.00 2.38 0.00 0.000 6 0.000 0.031 2140 1975 3919

960 -1.81 -243.3 185.6 -18.3 93 964 0.00 2.47 0.00 0.000 4 0.000 0.052 2140 3369 3919

977 -1.81 -243.3 189.2 -18.3 94 982 0.00 2.40 0.00 0.000 6 0.000 0.035 2140 1970 3919

1047 -1.81 -243.3 202.1 -18.6 100 1048 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1970 3919

1111 -1.81 -243.3 213.5 -17.7 106 1112 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1970 3919

1175 -1.81 -243.3 223.1 -15.0 112 1176 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1970 3919

1239 -1.81 -243.3 232.7 -14.9 118 1240 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1969 3920

1302 -1.81 -243.3 243.0 -16.3 124 1303 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1970 3920

1366 -1.81 -243.3 252.7 -15.1 130 1367 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 1970 3920

1430 -1.81 -243.3 262.4 -15.2 136 1434 0.00 2.50 0.00 0.000 4 0.000 0.057 2140 3363 3920

1457 -1.81 -243.3 267.1 -17.3 138 1464 0.00 2.42 0.00 0.000 6 0.000 0.039 2140 1966 3920

1482 end dive: TARGET_DEPTH_EXCEEDED

state 1482 begin apogee

1488 -0.38 0.0 271.6 17.0 141 1696 1.55 0.00 198.10 0.700 6 0.104 0.000 2449 1966 2916

1697 end apogee: CONTROL_FINISHED_OK

state 1697 begin climb

1700 1.81 243.3 281.6 0.0 162 1904 2.22 0.00 197.60 0.683 6 0.059 0.000 2940 1966 1925

1964 1.91 325.1 261.4 11.6 187 2036 0.00 0.00 69.62 0.662 6 0.000 0.000 2940 1965 1591

2098 1.96 363.4 244.0 13.4 200 2139 0.12 0.00 33.67 0.648 6 0.048 0.000 2981 1965 1434

2202 1.96 365.8 228.3 14.9 210 2203 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1965 1430

2265 1.96 365.8 218.5 15.7 216 2266 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1965 1429

2329 1.96 365.8 208.1 16.3 222 2333 0.00 2.60 0.00 0.000 4 0.000 0.060 2980 3382 1428

2372 1.96 365.8 201.0 16.1 225 2379 0.00 2.45 0.00 0.000 6 0.000 0.041 2981 1995 1427

2442 1.96 365.8 190.3 15.5 232 2444 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1994 1427

2506 1.96 365.8 180.5 15.4 238 2507 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1995 1426

2570 1.96 365.8 170.7 15.3 244 2574 0.00 2.60 0.00 0.000 4 0.000 0.067 2981 586 1425

2598 1.96 366.6 166.7 15.0 246 2603 0.00 2.42 0.00 0.000 6 0.000 0.035 2981 1993 1424

2668 2.03 417.9 157.5 12.9 252 2717 0.00 0.00 45.95 0.644 6 0.000 0.000 2981 1992 1213

2776 2.03 417.9 141.6 15.3 262 2777 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1992 1209

2840 2.03 418.8 131.8 15.0 268 2841 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1992 1208

2904 2.03 418.8 122.0 15.5 274 2905 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1992 1206

2968 2.04 430.8 112.5 14.5 280 2984 0.00 2.55 11.50 0.576 4 0.000 0.056 2981 3392 1159

3023 2.09 467.9 104.5 13.5 284 3064 0.00 2.45 32.72 0.607 6 0.000 0.037 2981 1989 1009

3128 2.11 487.2 90.7 14.2 294 3152 0.00 2.53 17.45 0.574 4 0.000 0.062 2980 592 929

3179 2.11 487.2 82.6 15.3 298 3186 0.00 2.42 0.00 0.000 6 0.000 0.032 2981 2001 927

3249 2.11 487.2 71.9 15.5 305 3253 0.00 2.50 0.00 0.000 4 0.000 0.055 2981 3386 926

3293 2.11 487.2 64.5 16.3 308 3300 0.00 2.42 0.00 0.000 6 0.000 0.036 2981 1992 925

3364 2.18 543.6 55.2 12.7 315 3411 0.17 2.58 38.65 0.579 4 0.039 0.061 3034 592 745

3503 2.18 543.6 31.2 18.4 327 3507 0.00 2.40 0.00 0.000 6 0.000 0.030 3035 2003 741

3573 2.18 543.6 17.0 19.7 334 3579 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2003 740

3648 2.18 543.6 4.0 17.5 347 3655 0.00 2.58 0.00 0.000 4 0.000 0.058 3034 589 740

3659 end climb: SURFACE_DEPTH_REACHED

state 3659 begin surface coast

3671 end surface coast: CONTROL_FINISHED_OK

state 3671 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	99	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	270	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	375	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	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	60	UPLOAD_DIVES_MAX	-1	VBD_MIN	746	DEVICE2	-1
T_MISSION	125	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	-108441.73	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	250	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	031038,2155.684,-15946.081,13,1.1,13,9.8	TGT_LATLONG	2154.185,-15941.805
_CALLS	1	TGT_RADIUS	750.000
_XMS_NAKs	0	KALMAN_CONTROL	0.325,-0.184
_XMS_TOUTs	0	KALMAN_X	-139276.7,-1931.2,-53.3,137806.0,-1016.4
_SM_DEPTHo	1.16	KALMAN_Y	58617.1,955.5,73.7,-59479.4,604.0
_SM_ANGLEo	-53.4	MHEAD_RNG_PITCHd_Wd	109.7,8332,-19.7,-15.000
GPS2	031813,2155.800,-15946.330,15,1.8,15,9.8	D_GRID	270
SPEED_LIMITS	0.150,0.374	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	BobNE

FINISH	0.7,1.022912	MM_CLLLayer	0.03
SM_CCo	3755,0.00,0.000,0,0,737,535.00	MM_CfgFile	0.30
SM_GC	1.11,11.40,0.00,0.00,0.026,0.000,0.000,402,1985,737,-9.78,0.40,535.00	_24V_AH	24.0,22.791
IRIDIUM_FIX	2148.09,-15945.93,011198,020238	_10V_AH	10.1,10.041
TT8_MAMPS	0.059826	DATA_FILE_SIZE	9545,351
HUMID	2032	CAP_FILE_SIZE	69195,0
INTERNAL_PRESSURE	7.52959	CFSIZE	260165632,248016896
TCM_TEMP	23.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	070809,042226,2155.744,-15946.498,12,1.8,12,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	181	112.56	SBE_CT	237	24	136.80
Roll_motor	74	66	118.55	nil	0	0	0.00
VBD_pump_during_apogee	645	699	10832.94	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	22	103	56.47	nil	0	0	0.00
Iridium_during_connect	26	160	102.49	GUMSTIX	92	1000	2230.15
Iridium_during_xfer	259	223	1389.41
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	27	1000	664.61
GPS	15	50	7.96
TT8	672	18	122.26
LPSleep	1642	0	6.47
TT8_Active	709	18	129.00
TT8_Sampling	680	38	261.02
TT8_CF8	515	44	229.05
TT8_Kalman	33	80	26.94
Analog_circuits	1201	12	145.58
GPS_charging	0	0	0.00
Compass	646	8	52.23
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
17	-1.81	-243.3	0.0	0.0	0	117	0.00	0.00	-96.80	0.000	2	0.000	0.000	406	1957	3397
120	-1.81	-243.3	4.2	-10.0	16	141	10.32	0.00	-8.32	0.000	6	0.182	0.000	2140	1956	3912
207	-1.81	-243.3	32.1	-26.7	27	211	0.00	2.50	0.00	0.000	4	0.000	0.048	2140	3367	3915
241	-1.81	-243.3	39.9	-24.6	30	245	0.00	2.40	0.00	0.000	6	0.000	0.033	2140	1967	3915
310	-1.81	-243.3	56.3	-22.1	36	315	0.00	2.53	0.00	0.000	4	0.000	0.058	2142	565	3915
343	-1.81	-243.3	63.4	-20.0	38	350	0.00	2.38	0.00	0.000	6	0.000	0.028	2140	1971	3915
413	-1.81	-243.3	77.5	-20.7	45	417	0.00	2.45	0.00	0.000	4	0.000	0.049	2140	3362	3916
457	-1.81	-243.3	86.8	-19.7	48	464	0.00	2.40	0.00	0.000	6	0.000	0.033	2140	1959	3916
527	-1.81	-243.3	100.7	-19.3	55	532	0.00	2.50	0.00	0.000	4	0.000	0.049	2140	3369	3917
560	-1.81	-243.3	107.5	-19.7	57	567	0.00	2.40	0.00	0.000	6	0.000	0.033	2140	1965	3917
630	-1.81	-243.3	120.9	-19.2	64	631	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1965	3917
694	-1.81	-243.3	133.8	-20.6	70	695	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1965	3917
758	-1.81	-243.3	146.8	-20.5	76	762	0.00	2.47	0.00	0.000	4	0.000	0.051	2141	3362	3918
786	-1.81	-243.3	152.4	-20.5	78	790	0.00	2.40	0.00	0.000	6	0.000	0.035	2140	1960	3918
855	-1.81	-243.3	166.6	-19.8	84	860	0.00	2.53	0.00	0.000	4	0.000	0.061	2140	566	3918
884	-1.81	-243.3	172.2	-20.1	86	888	0.00	2.38	0.00	0.000	6	0.000	0.031	2140	1975	3919
960	-1.81	-243.3	185.6	-18.3	93	964	0.00	2.47	0.00	0.000	4	0.000	0.052	2140	3369	3919
977	-1.81	-243.3	189.2	-18.3	94	982	0.00	2.40	0.00	0.000	6	0.000	0.035	2140	1970	3919
1047	-1.81	-243.3	202.1	-18.6	100	1048	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1970	3919
1111	-1.81	-243.3	213.5	-17.7	106	1112	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1970	3919
1175	-1.81	-243.3	223.1	-15.0	112	1176	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1970	3919
1239	-1.81	-243.3	232.7	-14.9	118	1240	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1969	3920
1302	-1.81	-243.3	243.0	-16.3	124	1303	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1970	3920
1366	-1.81	-243.3	252.7	-15.1	130	1367	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	1970	3920
1430	-1.81	-243.3	262.4	-15.2	136	1434	0.00	2.50	0.00	0.000	4	0.000	0.057	2140	3363	3920
1457	-1.81	-243.3	267.1	-17.3	138	1464	0.00	2.42	0.00	0.000	6	0.000	0.039	2140	1966	3920
1482	end dive: TARGET_DEPTH_EXCEEDED
state	1482	begin apogee
1488	-0.38	0.0	271.6	17.0	141	1696	1.55	0.00	198.10	0.700	6	0.104	0.000	2449	1966	2916
1697	end apogee: CONTROL_FINISHED_OK
state	1697	begin climb
1700	1.81	243.3	281.6	0.0	162	1904	2.22	0.00	197.60	0.683	6	0.059	0.000	2940	1966	1925
1964	1.91	325.1	261.4	11.6	187	2036	0.00	0.00	69.62	0.662	6	0.000	0.000	2940	1965	1591
2098	1.96	363.4	244.0	13.4	200	2139	0.12	0.00	33.67	0.648	6	0.048	0.000	2981	1965	1434
2202	1.96	365.8	228.3	14.9	210	2203	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1965	1430
2265	1.96	365.8	218.5	15.7	216	2266	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1965	1429
2329	1.96	365.8	208.1	16.3	222	2333	0.00	2.60	0.00	0.000	4	0.000	0.060	2980	3382	1428
2372	1.96	365.8	201.0	16.1	225	2379	0.00	2.45	0.00	0.000	6	0.000	0.041	2981	1995	1427
2442	1.96	365.8	190.3	15.5	232	2444	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1994	1427
2506	1.96	365.8	180.5	15.4	238	2507	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1995	1426
2570	1.96	365.8	170.7	15.3	244	2574	0.00	2.60	0.00	0.000	4	0.000	0.067	2981	586	1425
2598	1.96	366.6	166.7	15.0	246	2603	0.00	2.42	0.00	0.000	6	0.000	0.035	2981	1993	1424
2668	2.03	417.9	157.5	12.9	252	2717	0.00	0.00	45.95	0.644	6	0.000	0.000	2981	1992	1213
2776	2.03	417.9	141.6	15.3	262	2777	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1992	1209
2840	2.03	418.8	131.8	15.0	268	2841	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1992	1208
2904	2.03	418.8	122.0	15.5	274	2905	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	1992	1206
2968	2.04	430.8	112.5	14.5	280	2984	0.00	2.55	11.50	0.576	4	0.000	0.056	2981	3392	1159
3023	2.09	467.9	104.5	13.5	284	3064	0.00	2.45	32.72	0.607	6	0.000	0.037	2981	1989	1009
3128	2.11	487.2	90.7	14.2	294	3152	0.00	2.53	17.45	0.574	4	0.000	0.062	2980	592	929
3179	2.11	487.2	82.6	15.3	298	3186	0.00	2.42	0.00	0.000	6	0.000	0.032	2981	2001	927
3249	2.11	487.2	71.9	15.5	305	3253	0.00	2.50	0.00	0.000	4	0.000	0.055	2981	3386	926
3293	2.11	487.2	64.5	16.3	308	3300	0.00	2.42	0.00	0.000	6	0.000	0.036	2981	1992	925
3364	2.18	543.6	55.2	12.7	315	3411	0.17	2.58	38.65	0.579	4	0.039	0.061	3034	592	745
3503	2.18	543.6	31.2	18.4	327	3507	0.00	2.40	0.00	0.000	6	0.000	0.030	3035	2003	741
3573	2.18	543.6	17.0	19.7	334	3579	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	2003	740
3648	2.18	543.6	4.0	17.5	347	3655	0.00	2.58	0.00	0.000	4	0.000	0.058	3034	589	740
3659	end climb: SURFACE_DEPTH_REACHED
state	3659	begin surface coast
3671	end surface coast: CONTROL_FINISHED_OK
state	3671	begin surface