Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 ESCAPE_HEADING 0 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 4

DIVE 30 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 1

D_SURF 4 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 13 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 14 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 180 SM_CC 400 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_ABORT 1010 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 20 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 5 COMM_SEQ 0 VBD_MIN 470 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3900 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 2892 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 83

T_DIVE 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_MISSION 80 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 COMPASS_DEVICE 97

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS 20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -1593218.6 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 2 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043206038

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00062367308

T_WATCHDOG 10 PITCH_MIN 400 MINV_10V 11 SEABIRD_T_I 2.3111006e-05

RELAUNCH 1 PITCH_MAX 3700 FG_AHR_10V 0 SEABIRD_T_J 2.4313138e-06

APOGEE_PITCH -7 C_PITCH 3360 FG_AHR_24V 0 SEABIRD_C_G -10.199382

MAX_BUOY 160 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1587334

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -63.106686 SEABIRD_C_I -0.0027609179

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_C_J 0.00029025986

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN 22 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 53474 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 165 COMPASS_USE 4 PM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0 PM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0016 ROLL_MIN 440 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 1.0

HD_B 0.0099999998 ROLL_MAX 4000 ALTIM_TOP_MIN_OBSTACLE 0 PM_MOTORS 1.0

HD_C 1.4e-05 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2400 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_SURF 4 PITCH_DBAND 0.1 SEABIRD_T_J 2.4313138e-06

AH0_10V 0 D_TGT 180 PITCH_GAIN 22 SIM_PITCH 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3700 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 400 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 STROBE 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PM_MOTORS 1.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PM_NDIVE 1.0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0016 PM_PROFILE 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -7 HD_C 1.4e-05 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_XMITRAW 0.0 T_ABORT 1440

CALL_TRIES 5 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001138132 T_BOOST 5

CALL_WAIT 60 HEAPDBG 0 PRESSURE_YINT -63.106686 T_DIVE 60

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 ID 187 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_YINT 0.69999999 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1593218.6

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_MISSION 80

COMPASS_USE 4 LOGGERDEVICE2 83 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RELAUNCH 1 T_RSLEEP 2

C_PITCH 3360 LOGGERDEVICE4 -1 RHO 1.0275 T_TURN 225

C_ROLL_CLIMB 2700 LOGGERS 3 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2400 MASS 53474 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2892 MASS_COMP 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

DBDW 0 MAX_BUOY 160 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MINV_10V 11 ROLL_DEG 40 USE_BATHY -1

DEVICE1 -1 MINV_24V 11 ROLL_MAX 4000 USE_ICE 0

DEVICE2 -1 MISSION 4 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MOTHERBOARD 4 ROLL_MIN 440 VBD_CNV -0.24529999

DEVICE4 -1 NAV_MODE 10 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 NOCOMM_ACTION 163 R_PORT_OVSHOOT 13 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 14 VBD_MAXERRORS 1

DIVE 30 N_FILEKB 8 SC_PROFILE 3.0 VBD_MIN 470

D_ABORT 1010 N_GPS 20 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_NOCOMM 1 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOSURFACE 0 SEABIRD_C_G -10.199382 VBD_TIMEOUT 720

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_C_H 1.1587334 W_ADJ_DBAND 0

D_FLARE 3 PHONE_SUPPLY -2 SEABIRD_C_I -0.0027609179 XPDR_DEVICE 24

D_NO_BLEED 200 PITCH_ADJ_DBAND 2 SEABIRD_C_J 0.00029025986 XPDR_INHIBIT 90

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0049999999 SEABIRD_T_G 0.0043206038 XPDR_VALID 1

D_PITCH 0 PITCH_AD_RATE 165 SEABIRD_T_H 0.00062367308

D_SAFE 0 PITCH_CNV 0.003125763 SEABIRD_T_I 2.3111006e-05

Pre-dive calculations and measurements:

GPS1 260614,191245,4753.044,-12508.805,16,3.3,36,18.7 SPEED_LIMITS 0.173,0.250

_CALLS 1 TGT_NAME SHELF

_XMS_NAKs 0 TGT_LATLONG 4751.930,-12510.270

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 198.8,2803,-14.3,-10.000,-21.83,2203

_SM_ANGLEo -73.9 D_GRID 154

GPS2 260614,191903,4753.047,-12508.747,12,3.4,32,18.7

Post-dive calculations and measurements:

FINISH 0.4,1.023461 _10V_AH 13.1,0.000

SM_CCo 3016,39.95,0.105,0,0,1260,400.08 FG_AHR_24Vo 0.000

SM_GC 1.53,9.38,2.05,39.95,0.092,0.110,0.105,405,2404,1260,-9.21,-0.45,400.08,0,0,0,0,0,0,14.37,14.38,14.40 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12513.98,230407,070703 MEM 290884

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 10126,349

HUMID 48.77 CAP_FILE_SIZE 62513,0

INTERNAL_PRESSURE 8.95227 CFSIZE 260034560,254955520

TCM_TEMP 19.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,3787.75,0x2378ba,7,5

SC_FREEKB 3928416 EKF 3127,2872.838379,-7508.974609,0.389745,-0.000459,-0.002293,-0.082299,0.000895,0.001991,0.001936,0.026942,0.026942,0.000121

PM_FREEKB 61971584 CURRENT 0.027,348.1,1

_24V_AH 13.6,5.570 GPS 260614,201142,4752.883,-12508.989,13,1.7,18,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 435 145.48 nil 0 0 0.00

Roll_motor 25 133 45.35 nil 0 0 0.00

VBD_pump_during_apogee 346 862 4069.94 nil 0 0 0.00

VBD_pump_during_surface 39 104 56.94 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 2993 8 364.39

Iridium_during_xfer 168 154 353.60 PMAR 1325 4 75.88

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 22 9.78

TT8 1002 10 134.25

LPSleep 921 2 26.43

TT8_Active 471 10 63.10

TT8_Sampling 809 28 307.15

TT8_CF8 242 35 113.24

TT8_Kalman 0 0 0.00

Analog_circuits 1022 10 133.99

GPS_charging 0 0 0.00

Compass 537 0 5.28

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -0.80 -155.7 400 2408 1387 1138 0.0 0.0 0 101 0.00 0.00 -70.72 0.000 16386 0.000 0.000 400 2409 3167 3188 3146 0 0 0 0 0 0 28.83 28.83 28.83

106 -0.80 -155.7 400 2408 3190 3147 4.3 -6.6 7 133 13.02 0.00 -5.62 0.000 18438 0.435 0.000 3090 2408 3529 3520 3538 0 0 0 0 0 0 14.24 28.83 14.62

315 -0.78 -155.7 3090 2408 3526 3541 54.0 -17.4 28 324 0.00 0.00 0.00 0.000 6 0.000 0.000 3090 2405 3534 3527 3541 0 0 0 0 0 0 28.83 28.83 28.83

504 -0.75 -155.7 3090 2406 3527 3542 79.8 -14.4 47 515 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2408 3534 3527 3542 0 0 0 0 0 0 28.83 28.83 28.83

695 -0.74 -155.7 3090 2408 3527 3542 106.7 -14.4 66 706 0.12 0.00 0.00 0.000 2054 0.293 0.000 3125 2408 3534 3527 3542 0 0 0 0 0 0 14.46 28.83 28.83

886 -0.74 -155.7 3125 2408 3528 3542 126.6 -10.4 85 895 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2408 3533 3528 3538 0 0 0 0 0 0 28.83 28.83 28.83

1077 -0.74 -155.7 3125 2408 3529 3542 145.5 -9.4 104 1086 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2408 3534 3527 3542 0 0 0 0 0 0 28.83 28.83 28.83

1173 end dive: TARGET_DEPTH_EXCEEDED

state 1173 begin apogee

1182 -0.32 0.0 3125 2703 3528 3542 155.0 -9.8 114 1307 0.40 0.00 118.38 0.863 10246 0.217 0.000 3246 2703 2889 2951 2828 0 0 0 0 0 0 14.50 28.83 13.78

1313 end apogee: CONTROL_FINISHED_OK

state 1313 begin climb

1316 0.80 155.7 3246 2703 2951 2823 160.3 0.0 127 1453 1.17 2.50 120.30 0.838 10500 0.163 0.122 3609 4007 2253 2407 2099 0 0 0 0 0 0 14.11 13.90 13.62

1567 0.75 155.7 3609 4007 2402 2099 136.8 15.5 167 1579 0.00 2.35 0.00 0.000 1030 0.000 0.104 3614 2699 2250 2402 2098 0 0 0 0 0 0 28.83 14.18 28.83

1770 0.70 155.7 3614 2697 2402 2092 110.4 11.9 187 1782 0.00 2.58 0.00 0.000 516 0.000 0.126 3617 1285 2249 2402 2096 0 0 0 0 0 0 28.83 14.31 28.83

1879 0.66 155.7 3617 1280 2401 2095 96.1 12.8 206 1892 0.17 2.55 0.00 0.000 5126 0.280 0.111 3576 2701 2247 2401 2094 0 0 0 0 0 0 14.32 14.37 28.83

2073 0.67 193.3 3578 2702 2401 2093 77.4 8.2 225 2112 0.00 2.67 29.12 0.789 8708 0.000 0.129 3585 1280 2101 2260 1942 0 0 0 0 0 0 28.83 14.31 14.04

2247 0.64 193.3 3582 1278 2260 1942 61.2 10.0 253 2259 0.00 2.58 0.00 0.000 1030 0.000 0.114 3586 2708 2100 2260 1941 0 0 0 0 0 0 28.83 14.40 28.83

2442 0.61 193.3 3585 2706 2260 1938 40.9 10.3 272 2453 0.00 2.28 0.00 0.000 260 0.000 0.128 3585 3994 2098 2259 1938 0 0 0 0 0 0 28.83 14.45 28.83

2485 0.58 193.3 3584 3994 2260 1938 35.8 11.9 278 2497 0.17 2.33 0.00 0.000 5126 0.276 0.126 3547 2702 2098 2258 1938 0 0 0 0 0 0 14.39 14.43 28.83

2688 0.69 305.6 3547 2702 2258 1937 23.7 4.8 298 2782 0.12 2.62 79.00 0.709 10756 0.170 0.133 3602 1283 1644 1812 1476 0 0 0 0 0 0 14.51 14.19 13.97

2946 end climb: SURFACE_DEPTH_REACHED

state 2946 begin surface coast

2988 end surface coast: CONTROL_FINISHED_OK

state 2988 begin surface

ID	187	ESCAPE_HEADING	0	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	4
DIVE	30	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	1
D_SURF	4	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	13	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	14	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	180	SM_CC	400	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_ABORT	1010	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	20	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	5	COMM_SEQ	0	VBD_MIN	470	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3900	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	2892	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	83
T_DIVE	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_MISSION	80	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	COMPASS_DEVICE	97
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-1593218.6	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	2	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043206038
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00062367308
T_WATCHDOG	10	PITCH_MIN	400	MINV_10V	11	SEABIRD_T_I	2.3111006e-05
RELAUNCH	1	PITCH_MAX	3700	FG_AHR_10V	0	SEABIRD_T_J	2.4313138e-06
APOGEE_PITCH	-7	C_PITCH	3360	FG_AHR_24V	0	SEABIRD_C_G	-10.199382
MAX_BUOY	160	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1587334
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-63.106686	SEABIRD_C_I	-0.0027609179
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_C_J	0.00029025986
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN	22	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	53474	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	165	COMPASS_USE	4	PM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0	PM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0016	ROLL_MIN	440	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	1.0
HD_B	0.0099999998	ROLL_MAX	4000	ALTIM_TOP_MIN_OBSTACLE	0	PM_MOTORS	1.0
HD_C	1.4e-05	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2400	ALTIM_PING_DELTA	0

GPS1	260614,191245,4753.044,-12508.805,16,3.3,36,18.7	SPEED_LIMITS	0.173,0.250
_CALLS	1	TGT_NAME	SHELF
_XMS_NAKs	0	TGT_LATLONG	4751.930,-12510.270
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	198.8,2803,-14.3,-10.000,-21.83,2203
_SM_ANGLEo	-73.9	D_GRID	154
GPS2	260614,191903,4753.047,-12508.747,12,3.4,32,18.7

FINISH	0.4,1.023461	_10V_AH	13.1,0.000
SM_CCo	3016,39.95,0.105,0,0,1260,400.08	FG_AHR_24Vo	0.000
SM_GC	1.53,9.38,2.05,39.95,0.092,0.110,0.105,405,2404,1260,-9.21,-0.45,400.08,0,0,0,0,0,0,14.37,14.38,14.40	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12513.98,230407,070703	MEM	290884
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	10126,349
HUMID	48.77	CAP_FILE_SIZE	62513,0
INTERNAL_PRESSURE	8.95227	CFSIZE	260034560,254955520
TCM_TEMP	19.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,3787.75,0x2378ba,7,5
SC_FREEKB	3928416	EKF	3127,2872.838379,-7508.974609,0.389745,-0.000459,-0.002293,-0.082299,0.000895,0.001991,0.001936,0.026942,0.026942,0.000121
PM_FREEKB	61971584	CURRENT	0.027,348.1,1
_24V_AH	13.6,5.570	GPS	260614,201142,4752.883,-12508.989,13,1.7,18,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	435	145.48	nil	0	0	0.00
Roll_motor	25	133	45.35	nil	0	0	0.00
VBD_pump_during_apogee	346	862	4069.94	nil	0	0	0.00
VBD_pump_during_surface	39	104	56.94	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	2993	8	364.39
Iridium_during_xfer	168	154	353.60	PMAR	1325	4	75.88
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	22	9.78
TT8	1002	10	134.25
LPSleep	921	2	26.43
TT8_Active	471	10	63.10
TT8_Sampling	809	28	307.15
TT8_CF8	242	35	113.24
TT8_Kalman	0	0	0.00
Analog_circuits	1022	10	133.99
GPS_charging	0	0	0.00
Compass	537	0	5.28
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-0.80	-155.7	400	2408	1387	1138	0.0	0.0	0	101	0.00	0.00	-70.72	0.000	16386	0.000	0.000	400	2409	3167	3188	3146	0	0	0	0	0	0	28.83	28.83	28.83
106	-0.80	-155.7	400	2408	3190	3147	4.3	-6.6	7	133	13.02	0.00	-5.62	0.000	18438	0.435	0.000	3090	2408	3529	3520	3538	0	0	0	0	0	0	14.24	28.83	14.62
315	-0.78	-155.7	3090	2408	3526	3541	54.0	-17.4	28	324	0.00	0.00	0.00	0.000	6	0.000	0.000	3090	2405	3534	3527	3541	0	0	0	0	0	0	28.83	28.83	28.83
504	-0.75	-155.7	3090	2406	3527	3542	79.8	-14.4	47	515	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2408	3534	3527	3542	0	0	0	0	0	0	28.83	28.83	28.83
695	-0.74	-155.7	3090	2408	3527	3542	106.7	-14.4	66	706	0.12	0.00	0.00	0.000	2054	0.293	0.000	3125	2408	3534	3527	3542	0	0	0	0	0	0	14.46	28.83	28.83
886	-0.74	-155.7	3125	2408	3528	3542	126.6	-10.4	85	895	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2408	3533	3528	3538	0	0	0	0	0	0	28.83	28.83	28.83
1077	-0.74	-155.7	3125	2408	3529	3542	145.5	-9.4	104	1086	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	2408	3534	3527	3542	0	0	0	0	0	0	28.83	28.83	28.83
1173	end dive: TARGET_DEPTH_EXCEEDED
state	1173	begin apogee
1182	-0.32	0.0	3125	2703	3528	3542	155.0	-9.8	114	1307	0.40	0.00	118.38	0.863	10246	0.217	0.000	3246	2703	2889	2951	2828	0	0	0	0	0	0	14.50	28.83	13.78
1313	end apogee: CONTROL_FINISHED_OK
state	1313	begin climb
1316	0.80	155.7	3246	2703	2951	2823	160.3	0.0	127	1453	1.17	2.50	120.30	0.838	10500	0.163	0.122	3609	4007	2253	2407	2099	0	0	0	0	0	0	14.11	13.90	13.62
1567	0.75	155.7	3609	4007	2402	2099	136.8	15.5	167	1579	0.00	2.35	0.00	0.000	1030	0.000	0.104	3614	2699	2250	2402	2098	0	0	0	0	0	0	28.83	14.18	28.83
1770	0.70	155.7	3614	2697	2402	2092	110.4	11.9	187	1782	0.00	2.58	0.00	0.000	516	0.000	0.126	3617	1285	2249	2402	2096	0	0	0	0	0	0	28.83	14.31	28.83
1879	0.66	155.7	3617	1280	2401	2095	96.1	12.8	206	1892	0.17	2.55	0.00	0.000	5126	0.280	0.111	3576	2701	2247	2401	2094	0	0	0	0	0	0	14.32	14.37	28.83
2073	0.67	193.3	3578	2702	2401	2093	77.4	8.2	225	2112	0.00	2.67	29.12	0.789	8708	0.000	0.129	3585	1280	2101	2260	1942	0	0	0	0	0	0	28.83	14.31	14.04
2247	0.64	193.3	3582	1278	2260	1942	61.2	10.0	253	2259	0.00	2.58	0.00	0.000	1030	0.000	0.114	3586	2708	2100	2260	1941	0	0	0	0	0	0	28.83	14.40	28.83
2442	0.61	193.3	3585	2706	2260	1938	40.9	10.3	272	2453	0.00	2.28	0.00	0.000	260	0.000	0.128	3585	3994	2098	2259	1938	0	0	0	0	0	0	28.83	14.45	28.83
2485	0.58	193.3	3584	3994	2260	1938	35.8	11.9	278	2497	0.17	2.33	0.00	0.000	5126	0.276	0.126	3547	2702	2098	2258	1938	0	0	0	0	0	0	14.39	14.43	28.83
2688	0.69	305.6	3547	2702	2258	1937	23.7	4.8	298	2782	0.12	2.62	79.00	0.709	10756	0.170	0.133	3602	1283	1644	1812	1476	0	0	0	0	0	0	14.51	14.19	13.97
2946	end climb: SURFACE_DEPTH_REACHED
state	2946	begin surface coast
2988	end surface coast: CONTROL_FINISHED_OK
state	2988	begin surface