Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PULSE 4

MISSION 25 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

DIVE 10 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 44 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 INT_PRESSURE_YINT 0

D_TGT 180 SM_CC 500 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_ABORT 1040 N_FILEKB 8 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 VBD_MIN 448 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MAX 4001 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 C_VBD 3009 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 86

T_DIVE 60 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 80 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_TURN 225 T_GPS 5 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT 5 N_GPS 20 DBDW 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 PITCH_W_GAIN 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -193514.11 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 3 CF8_MAXERRORS 0 XPDR_DEVICE 24

USE_BATHY -7 STROBE 0 AH0_24V 150 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.1 RAFOS_CORR_THRESH 60 MINV_24V 22 SEABIRD_T_G 0.0042902208

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 SEABIRD_T_H 0.00062879291

T_WATCHDOG 10 PITCH_MIN 350 FG_AHR_10V 0 SEABIRD_T_I 2.3436274e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_24V 0 SEABIRD_T_J 2.4509632e-06

APOGEE_PITCH -5 C_PITCH 3230 PHONE_SUPPLY -2 SEABIRD_C_G -9.8955164

MAX_BUOY 150 PITCH_DBAND 0.1 PRESSURE_YINT -21.975828 SEABIRD_C_H 1.1345812

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001161151 SEABIRD_C_I -0.0014690319

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_J 0.0002024868

SPEED_FACTOR 1 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

MASS 51925 PITCH_AD_RATE 150 COMPASS_USE 4 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0.025 ALTIM_TOP_PING_RANGE 0 PM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 294 ALTIM_TOP_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0020999999 ROLL_MAX 3598 ALTIM_TOP_MIN_OBSTACLE 0 PM_NDIVE 0.0

HD_B 0.0116 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HD_C 9.4299997e-07 C_ROLL_DIVE 2150 ALTIM_PING_DELTA 10

HEADING -1 C_ROLL_CLIMB 1946 ALTIM_FREQUENCY 13

AD7714Ch0Gain 128 D_SAFE 0 PITCH_CNV 0.003125763 SIM_PITCH 0

AH0_10V 100 D_SURF 4 PITCH_DBAND 0.1 SIM_W 0

AH0_24V 150 D_TGT 180 PITCH_GAIN 30 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_MAX 3700 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_MIN 350 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_TIMEOUT 20 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FILEMGR 0 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PM_NDIVE 0.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PM_PROFILE 3.0 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0020999999 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 HD_B 0.0116 PM_XMITPROFILE 3.0 T_ABORT 1440

CALL_NDIVES 1 HD_C 9.4299997e-07 PM_XMITRAW 0.0 T_BOOST 5

CALL_TRIES 5 HEADING -1 PRESSURE_SLOPE 0.0001161151 T_DIVE 60

CALL_WAIT 60 HEAD_ERRBAND 10 PRESSURE_YINT -21.975828 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 PROTOCOL 9 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 ID 108 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -193514.11

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_MISSION 80

COMPASS_DEVICE 97 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 53 RELAUNCH 1 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE2 86 RHO 1.0275 T_TURN 225

C_PITCH 3230 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1946 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_DIVE 2150 LOGGERS 1 ROLL_AD_RATE 300 UNCOM_BLEED 20

C_VBD 3009 MASS 51925 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DBDW 0 MASS_COMP 0 ROLL_DEG 40 USE_BATHY -7

DEEPGLIDER 0 MAX_BUOY 150 ROLL_MAX 3598 USE_ICE 0

DEEPGLIDERMB 0 MINV_10V 9.5 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_24V 22 ROLL_MIN 294 VBD_CNV -0.24529999

DEVICE2 -1 MISSION 25 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MOTHERBOARD 4 R_PORT_OVSHOOT 44 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 43 VBD_MAXERRORS 1

DEVICE5 -1 NOCOMM_ACTION 163 SC_PROFILE 3.0 VBD_MIN 448

DEVICE6 -1 N_DIVES 0 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 10 N_FILEKB 8 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1040 N_GPS 20 SEABIRD_C_G -9.8955164 VBD_TIMEOUT 720

D_BOOST 20 N_NOCOMM 1 SEABIRD_C_H 1.1345812 W_ADJ_DBAND 0

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_I -0.0014690319 XPDR_DEVICE 24

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_J 0.0002024868 XPDR_INHIBIT 90

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_T_G 0.0042902208 XPDR_VALID 5

D_NO_BLEED 50 PITCH_ADJ_DBAND 1 SEABIRD_T_H 0.00062879291

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.025 SEABIRD_T_I 2.3436274e-05

D_PITCH 0 PITCH_AD_RATE 150 SEABIRD_T_J 2.4509632e-06

Pre-dive calculations and measurements:

GPS1 240913,104203,4747.958,-12508.077,32,1.9,34,17.2 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240913,104712,4747.938,-12508.146,14,0.8,15,17.2 MHEAD_RNG_PITCHd_Wd 215.2,166858,-16.6,-10.000,-22.18,2246

SPEED_LIMITS 0.173,0.245 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.4,1.023380 _10V_AH 9.8,11.095

SM_CCo 3785,59.55,0.059,0,0,969,500.17 FG_AHR_24Vo 0.000

SM_GC 1.76,8.55,2.53,59.55,0.044,0.037,0.059,341,2155,969,-8.97,-1.27,500.17,0,0,0,0,0,0,26.42,26.45,26.35 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12505.82,240913,090955 MEM 307872

TT8_MAMPS 0.025466,0.025466 DATA_FILE_SIZE 10142,264

HUMID 59.80 CAP_FILE_SIZE 64488,0

INTERNAL_PRESSURE 9.03355 CFSIZE 260034560,242184192

TCM_TEMP 18.60 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 CURRENT 0.028,355.4,1

SC_FREEKB 3934816 GPS 240913,115241,4747.893,-12508.703,15,1.1,15,17.2

_24V_AH 24.2,2.158

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 247 130.21 nil 0 0 0.00

Roll_motor 39 61 59.46 nil 0 0 0.00

VBD_pump_during_apogee 421 713 7283.00 nil 0 0 0.00

VBD_pump_during_surface 59 58 84.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 3757 14 1286.78

Iridium_during_xfer 177 123 530.17 PMAR 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 29 4.89

TT8 817 11 94.12

LPSleep 1818 2 39.03

TT8_Active 494 11 56.94

TT8_Sampling 889 38 337.39

TT8_CF8 146 49 70.82

TT8_Kalman 0 0 0.00

Analog_circuits 1109 15 173.63

GPS_charging 0 0 0.00

Compass 675 7 49.57

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.73 -146.0 337 2161 1044 876 0.0 0.0 0 99 0.00 0.00 -75.32 0.000 16386 0.000 0.000 337 2161 3101 3118 3085 0 0 0 0 0 0 28.83 28.83 28.83

103 -0.73 -146.0 337 2161 3127 3081 3.6 -6.9 13 130 10.60 2.17 -9.05 0.000 18692 0.247 0.062 2981 3554 3609 3602 3617 0 0 0 0 0 0 25.80 26.04 26.33

362 -0.81 -146.0 2981 3555 3603 3634 44.5 -11.2 46 367 0.00 2.12 0.00 0.000 1030 0.000 0.032 2981 2119 3619 3603 3636 0 0 0 0 0 0 28.83 26.29 28.83

676 -0.88 -146.0 2981 2117 3604 3641 74.3 -9.4 64 683 0.12 2.20 0.00 0.000 4356 0.090 0.047 2906 3559 3622 3604 3641 0 0 0 0 0 0 26.44 26.39 28.83

912 -0.85 -146.0 2906 3559 3603 3642 102.7 -12.1 75 918 0.17 2.08 0.00 0.000 3078 0.137 0.032 2956 2138 3623 3604 3642 0 0 0 0 0 0 26.36 26.51 28.83

1227 -0.92 -146.0 2956 2138 3604 3642 133.2 -9.4 91 1232 0.00 2.17 0.00 0.000 260 0.000 0.049 2947 3559 3623 3604 3642 0 0 0 0 0 0 28.83 26.53 28.83

1333 -0.97 -146.0 2947 3558 3604 3642 143.2 -9.6 96 1339 0.00 2.05 0.00 0.000 1030 0.000 0.034 2948 2151 3623 3604 3642 0 0 0 0 0 0 28.83 26.59 28.83

1658 -1.02 -146.0 2947 2147 3604 3642 174.4 -9.7 112 1664 0.12 2.15 0.00 0.000 4356 0.090 0.048 2869 3566 3622 3604 3641 0 0 0 0 0 0 26.64 26.59 28.83

1720 end dive: TARGET_DEPTH_EXCEEDED

state 1720 begin apogee

1729 -0.17 0.0 2869 1955 3603 3641 182.5 -11.9 115 1884 0.93 0.00 141.68 0.669 10246 0.134 0.000 3171 1947 3009 3101 2917 0 0 0 0 1 0 26.48 28.83 24.49

1886 end apogee: CONTROL_FINISHED_OK

state 1886 begin climb

1889 0.73 146.0 3171 1947 3100 2917 189.9 0.0 123 2026 0.80 2.38 121.47 0.714 10756 0.054 0.042 3481 543 2412 2514 2310 0 0 0 0 1 0 25.20 24.84 24.22

2040 0.86 297.7 3480 544 2511 2310 189.3 3.1 130 2180 0.00 2.30 125.25 0.703 9222 0.000 0.035 3481 1962 1794 1916 1673 0 0 0 0 1 0 28.83 25.11 24.20

2496 0.91 297.7 3480 1961 1910 1664 136.3 11.6 153 2503 0.12 2.12 0.00 0.000 2308 0.091 0.046 3544 3344 1787 1911 1664 0 0 0 0 0 0 25.98 25.94 28.83

2592 0.84 297.7 3544 3344 1910 1663 122.7 15.6 157 2598 0.20 2.12 0.00 0.000 5126 0.143 0.034 3497 1951 1787 1910 1664 0 0 0 0 0 0 25.95 26.08 28.83

2907 0.87 297.7 3497 1951 1910 1662 84.0 10.7 173 2912 0.00 2.17 0.00 0.000 260 0.000 0.047 3497 3353 1785 1910 1661 0 0 0 0 0 0 28.83 26.27 28.83

2954 0.87 297.7 2656 3351 1861 1655 78.7 11.3 175 2960 0.00 2.12 0.00 0.000 1030 0.000 0.034 3504 1945 1784 1908 1661 0 0 0 0 0 0 28.83 26.32 28.83

3264 0.92 307.1 3504 1945 1908 1658 48.0 9.6 191 3280 0.00 2.22 8.88 0.620 8452 0.000 0.047 3505 3379 1755 1880 1631 0 0 0 0 0 0 28.83 26.28 25.77

3341 0.92 307.1 3504 3379 1879 1629 40.0 10.6 198 3347 0.00 2.17 0.00 0.000 1030 0.000 0.034 3514 1938 1754 1879 1629 0 0 0 0 0 0 28.83 26.36 28.83

3654 1.07 359.7 3514 1938 1877 1625 13.2 7.6 244 3686 0.15 2.12 24.38 0.088 10756 0.079 0.044 3603 545 1541 1672 1410 0 0 0 0 0 0 26.48 26.40 26.34

3743 end climb: SURFACE_DEPTH_REACHED

state 3743 begin surface coast

3764 end surface coast: CONTROL_FINISHED_OK

state 3764 begin surface

ID	108	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PULSE	4
MISSION	25	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
DIVE	10	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	44	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	INT_PRESSURE_YINT	0
D_TGT	180	SM_CC	500	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_ABORT	1040	N_FILEKB	8	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	VBD_MIN	448	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MAX	4001	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	C_VBD	3009	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	86
T_DIVE	60	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	80	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_TURN	225	T_GPS	5	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	5	N_GPS	20	DBDW	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	PITCH_W_GAIN	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-193514.11	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	3	CF8_MAXERRORS	0	XPDR_DEVICE	24
USE_BATHY	-7	STROBE	0	AH0_24V	150	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.1	RAFOS_CORR_THRESH	60	MINV_24V	22	SEABIRD_T_G	0.0042902208
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	SEABIRD_T_H	0.00062879291
T_WATCHDOG	10	PITCH_MIN	350	FG_AHR_10V	0	SEABIRD_T_I	2.3436274e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_24V	0	SEABIRD_T_J	2.4509632e-06
APOGEE_PITCH	-5	C_PITCH	3230	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8955164
MAX_BUOY	150	PITCH_DBAND	0.1	PRESSURE_YINT	-21.975828	SEABIRD_C_H	1.1345812
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001161151	SEABIRD_C_I	-0.0014690319
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_J	0.0002024868
SPEED_FACTOR	1	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
MASS	51925	PITCH_AD_RATE	150	COMPASS_USE	4	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0.025	ALTIM_TOP_PING_RANGE	0	PM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	294	ALTIM_TOP_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0020999999	ROLL_MAX	3598	ALTIM_TOP_MIN_OBSTACLE	0	PM_NDIVE	0.0
HD_B	0.0116	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HD_C	9.4299997e-07	C_ROLL_DIVE	2150	ALTIM_PING_DELTA	10
HEADING	-1	C_ROLL_CLIMB	1946	ALTIM_FREQUENCY	13

GPS1	240913,104203,4747.958,-12508.077,32,1.9,34,17.2	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240913,104712,4747.938,-12508.146,14,0.8,15,17.2	MHEAD_RNG_PITCHd_Wd	215.2,166858,-16.6,-10.000,-22.18,2246
SPEED_LIMITS	0.173,0.245	D_GRID	1000

FINISH	1.4,1.023380	_10V_AH	9.8,11.095
SM_CCo	3785,59.55,0.059,0,0,969,500.17	FG_AHR_24Vo	0.000
SM_GC	1.76,8.55,2.53,59.55,0.044,0.037,0.059,341,2155,969,-8.97,-1.27,500.17,0,0,0,0,0,0,26.42,26.45,26.35	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12505.82,240913,090955	MEM	307872
TT8_MAMPS	0.025466,0.025466	DATA_FILE_SIZE	10142,264
HUMID	59.80	CAP_FILE_SIZE	64488,0
INTERNAL_PRESSURE	9.03355	CFSIZE	260034560,242184192
TCM_TEMP	18.60	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	CURRENT	0.028,355.4,1
SC_FREEKB	3934816	GPS	240913,115241,4747.893,-12508.703,15,1.1,15,17.2
_24V_AH	24.2,2.158

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	247	130.21	nil	0	0	0.00
Roll_motor	39	61	59.46	nil	0	0	0.00
VBD_pump_during_apogee	421	713	7283.00	nil	0	0	0.00
VBD_pump_during_surface	59	58	84.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	3757	14	1286.78
Iridium_during_xfer	177	123	530.17	PMAR	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	29	4.89
TT8	817	11	94.12
LPSleep	1818	2	39.03
TT8_Active	494	11	56.94
TT8_Sampling	889	38	337.39
TT8_CF8	146	49	70.82
TT8_Kalman	0	0	0.00
Analog_circuits	1109	15	173.63
GPS_charging	0	0	0.00
Compass	675	7	49.57
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.73	-146.0	337	2161	1044	876	0.0	0.0	0	99	0.00	0.00	-75.32	0.000	16386	0.000	0.000	337	2161	3101	3118	3085	0	0	0	0	0	0	28.83	28.83	28.83
103	-0.73	-146.0	337	2161	3127	3081	3.6	-6.9	13	130	10.60	2.17	-9.05	0.000	18692	0.247	0.062	2981	3554	3609	3602	3617	0	0	0	0	0	0	25.80	26.04	26.33
362	-0.81	-146.0	2981	3555	3603	3634	44.5	-11.2	46	367	0.00	2.12	0.00	0.000	1030	0.000	0.032	2981	2119	3619	3603	3636	0	0	0	0	0	0	28.83	26.29	28.83
676	-0.88	-146.0	2981	2117	3604	3641	74.3	-9.4	64	683	0.12	2.20	0.00	0.000	4356	0.090	0.047	2906	3559	3622	3604	3641	0	0	0	0	0	0	26.44	26.39	28.83
912	-0.85	-146.0	2906	3559	3603	3642	102.7	-12.1	75	918	0.17	2.08	0.00	0.000	3078	0.137	0.032	2956	2138	3623	3604	3642	0	0	0	0	0	0	26.36	26.51	28.83
1227	-0.92	-146.0	2956	2138	3604	3642	133.2	-9.4	91	1232	0.00	2.17	0.00	0.000	260	0.000	0.049	2947	3559	3623	3604	3642	0	0	0	0	0	0	28.83	26.53	28.83
1333	-0.97	-146.0	2947	3558	3604	3642	143.2	-9.6	96	1339	0.00	2.05	0.00	0.000	1030	0.000	0.034	2948	2151	3623	3604	3642	0	0	0	0	0	0	28.83	26.59	28.83
1658	-1.02	-146.0	2947	2147	3604	3642	174.4	-9.7	112	1664	0.12	2.15	0.00	0.000	4356	0.090	0.048	2869	3566	3622	3604	3641	0	0	0	0	0	0	26.64	26.59	28.83
1720	end dive: TARGET_DEPTH_EXCEEDED
state	1720	begin apogee
1729	-0.17	0.0	2869	1955	3603	3641	182.5	-11.9	115	1884	0.93	0.00	141.68	0.669	10246	0.134	0.000	3171	1947	3009	3101	2917	0	0	0	0	1	0	26.48	28.83	24.49
1886	end apogee: CONTROL_FINISHED_OK
state	1886	begin climb
1889	0.73	146.0	3171	1947	3100	2917	189.9	0.0	123	2026	0.80	2.38	121.47	0.714	10756	0.054	0.042	3481	543	2412	2514	2310	0	0	0	0	1	0	25.20	24.84	24.22
2040	0.86	297.7	3480	544	2511	2310	189.3	3.1	130	2180	0.00	2.30	125.25	0.703	9222	0.000	0.035	3481	1962	1794	1916	1673	0	0	0	0	1	0	28.83	25.11	24.20
2496	0.91	297.7	3480	1961	1910	1664	136.3	11.6	153	2503	0.12	2.12	0.00	0.000	2308	0.091	0.046	3544	3344	1787	1911	1664	0	0	0	0	0	0	25.98	25.94	28.83
2592	0.84	297.7	3544	3344	1910	1663	122.7	15.6	157	2598	0.20	2.12	0.00	0.000	5126	0.143	0.034	3497	1951	1787	1910	1664	0	0	0	0	0	0	25.95	26.08	28.83
2907	0.87	297.7	3497	1951	1910	1662	84.0	10.7	173	2912	0.00	2.17	0.00	0.000	260	0.000	0.047	3497	3353	1785	1910	1661	0	0	0	0	0	0	28.83	26.27	28.83
2954	0.87	297.7	2656	3351	1861	1655	78.7	11.3	175	2960	0.00	2.12	0.00	0.000	1030	0.000	0.034	3504	1945	1784	1908	1661	0	0	0	0	0	0	28.83	26.32	28.83
3264	0.92	307.1	3504	1945	1908	1658	48.0	9.6	191	3280	0.00	2.22	8.88	0.620	8452	0.000	0.047	3505	3379	1755	1880	1631	0	0	0	0	0	0	28.83	26.28	25.77
3341	0.92	307.1	3504	3379	1879	1629	40.0	10.6	198	3347	0.00	2.17	0.00	0.000	1030	0.000	0.034	3514	1938	1754	1879	1629	0	0	0	0	0	0	28.83	26.36	28.83
3654	1.07	359.7	3514	1938	1877	1625	13.2	7.6	244	3686	0.15	2.12	24.38	0.088	10756	0.079	0.044	3603	545	1541	1672	1410	0	0	0	0	0	0	26.48	26.40	26.34
3743	end climb: SURFACE_DEPTH_REACHED
state	3743	begin surface coast
3764	end surface coast: CONTROL_FINISHED_OK
state	3764	begin surface