Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 454 * 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 454 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 80 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 57 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 INT_PRESSURE_YINT 0

D_TGT 990 SM_CC 375 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_ABORT 1030 N_FILEKB 4 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_NO_BLEED 200 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 1 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 0.003 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 3 LOGGERDEVICE1 53

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 86

T_DIVE 410 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_MISSION 430 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 48

T_NO_W 120 T_GPS_ALMANAC 0 PITCH_W_GAIN 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -194776.22 PITCH_W_DBAND 0 RAFOS_DEVICE -1

T_EPIRB 0 T_RSLEEP 3 CF8_MAXERRORS 0 XPDR_DEVICE 24

USE_BATHY -1 STROBE 0 AH0_24V 150 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 AH0_10V 108 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 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 3200 PHONE_SUPPLY -2 SEABIRD_C_G -9.8955164

MAX_BUOY 110 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 20 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 ALTIM_TOP_PING_RANGE 0 PM_PROFILE 1.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITPROFILE 1.0

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 14.0

HD_B 0.0116 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HD_C 9.4299997e-07 C_ROLL_DIVE 2300 ALTIM_PING_DELTA 10

HEADING -1 C_ROLL_CLIMB 2025 ALTIM_FREQUENCY 13

AD7714Ch0Gain 128 D_SAFE 0 PITCH_CNV 0.003125763 SIM_PITCH 0

AH0_10V 108 D_SURF 4 PITCH_DBAND 0.1 SIM_W 0

AH0_24V 150 D_TGT 990 PITCH_GAIN 20 SM_CC 375

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 0.003 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 14.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PM_PROFILE 1.0 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 1.0 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 410

CALL_WAIT 60 HEAD_ERRBAND 10 PRESSURE_YINT -21.975828 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 PROTOCOL 1 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 -194776.22

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 430

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 3200 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2025 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERS 3 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 -1

DEEPGLIDER 0 MAX_BUOY 110 ROLL_MAX 3598 USE_ICE 0

DEEPGLIDERMB 0 MINV_10V 9 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 80 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 57 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 2

DIVE 454 N_FILEKB 4 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 3

D_ABORT 1030 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 48 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 200 PITCH_ADJ_DBAND 0 SEABIRD_T_H 0.00062879291

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 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 151213,172219,4751.242,-12512.219,17,1.7,17,17.2 TGT_NAME SHELF

_CALLS 1 TGT_LATLONG 4751.930,-12510.270

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 151213,172900,4751.228,-12512.131,39,1.0,39,17.2 MHEAD_RNG_PITCHd_Wd 88.5,2653,-15.8,-8.049,-22.04,2046

SPEED_LIMITS 0.139,0.199 D_GRID 210

Post-dive calculations and measurements:

FINISH 1.7,1.024153 _24V_AH 24.4,47.894

SM_CCo 4143,94.62,0.057,0,0,1480,375.06 _10V_AH 9.6,48.145

SM_GC 2.49,8.75,0.38,94.62,0.045,0.048,0.057,334,2306,1480,-8.89,-1.50,375.06,0,0,0,0,0,0,26.02,26.18,25.93 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4735.69,-12553.15,151213,161625 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 258768

HUMID 54.56 DATA_FILE_SIZE 10116,297

INTERNAL_PRESSURE 9.02378 CAP_FILE_SIZE 65141,0

TCM_TEMP 18.40 CFSIZE 260034560,204812288

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

SC_FREEKB 3792896 CURRENT 0.160, 5.7,1

PM_FREEKB 2812428 GPS 151213,184112,4751.407,-12511.633,16,1.6,16,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 236 121.56 nil 0 0 0.00

Roll_motor 20 59 30.47 nil 0 0 0.00

VBD_pump_during_apogee 317 661 5126.79 nil 0 0 0.00

VBD_pump_during_surface 94 56 130.70 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 4122 6 691.97

Iridium_during_xfer 191 119 557.77 PMAR 92 9 21.84

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 29 11.62

TT8 843 11 95.14

LPSleep 2150 2 45.21

TT8_Active 431 11 48.71

TT8_Sampling 987 38 367.02

TT8_CF8 234 49 110.80

TT8_Kalman 0 0 0.00

Analog_circuits 1105 15 169.43

GPS_charging 0 0 0.00

Compass 642 7 46.22

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

23 -1.11 -107.1 335 2321 1538 1390 0.0 0.0 0 73 0.00 0.00 -42.45 0.000 16386 0.000 0.000 335 2322 2590 2632 2548 0 0 0 0 0 0 28.83 28.83 28.83

78 -1.11 -107.1 335 2323 2634 2554 3.0 -1.3 7 128 10.05 1.95 -24.02 0.000 18692 0.236 0.060 2828 3574 3452 3493 3412 0 0 0 0 0 0 25.39 26.03 26.51

359 -1.11 -107.1 1856 3573 3487 3414 50.8 -16.1 44 371 0.00 1.80 0.00 0.000 1030 0.000 0.025 2835 2291 3457 3497 3417 0 0 0 0 0 0 28.83 26.28 28.83

666 -1.11 -107.1 2835 2290 3499 3417 95.4 -14.5 60 677 0.00 1.95 0.00 0.000 260 0.000 0.042 2827 3579 3458 3499 3417 0 0 0 0 0 0 28.83 26.12 28.83

826 -1.11 -107.1 2827 3579 3498 3416 117.0 -13.9 67 837 0.00 1.80 0.00 0.000 1030 0.000 0.026 2834 2301 3458 3499 3417 0 0 0 0 0 0 28.83 26.39 28.83

1146 -1.11 -107.1 2835 2301 3499 3417 157.0 -11.8 83 1157 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2301 3458 3499 3417 0 0 0 0 0 0 28.83 28.83 28.83

1446 -1.11 -107.1 2834 2301 3499 3417 193.8 -12.9 98 1457 0.00 2.08 0.00 0.000 516 0.000 0.031 2838 913 3457 3498 3417 0 0 0 0 0 0 28.83 26.30 28.83

1480 -1.11 -107.1 1840 913 3489 3414 197.6 -12.9 99 1491 0.00 2.10 0.00 0.000 1030 0.000 0.031 2831 2302 3458 3499 3417 0 0 0 0 0 0 28.83 26.32 28.83

1582 end dive: TARGET_DEPTH_EXCEEDED

state 1582 begin apogee

1590 -0.25 0.0 2831 2030 3499 3416 211.1 -12.5 104 1736 0.90 0.00 129.65 0.662 10246 0.135 0.000 3115 2022 3003 3091 2916 0 0 0 0 0 0 25.46 28.83 24.56

1738 end apogee: CONTROL_FINISHED_OK

state 1738 begin climb

1741 1.11 107.1 3114 2022 3087 2912 216.2 0.0 111 1883 1.25 0.00 128.52 0.635 10758 0.080 0.000 3553 2022 2572 2674 2470 0 0 0 0 0 0 25.34 28.83 24.37

2172 1.11 107.1 3553 2022 2652 2457 175.3 10.4 133 2182 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2023 2553 2652 2455 0 0 0 0 0 0 28.83 28.83 28.83

2472 1.11 107.1 3553 2022 2649 2455 142.8 10.7 148 2482 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2022 2552 2649 2455 0 0 0 0 0 0 28.83 28.83 28.83

2773 1.11 107.1 3553 2022 2649 2454 112.0 10.1 163 2783 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2022 2550 2648 2453 0 0 0 0 0 0 28.83 28.83 28.83

3072 1.11 107.1 3553 2022 2647 2453 82.5 9.5 178 3083 0.00 2.12 0.00 0.000 516 0.000 0.034 3562 635 2550 2648 2453 0 0 0 0 0 0 28.83 26.25 28.83

3157 1.11 107.1 3562 634 2646 2453 75.5 9.8 181 3169 0.00 2.12 0.00 0.000 1030 0.000 0.028 3562 2023 2550 2647 2453 0 0 0 0 0 0 28.83 26.34 28.83

3462 1.11 107.1 3562 2022 2646 2454 43.8 9.2 200 3473 0.00 2.15 0.00 0.000 516 0.000 0.033 3570 632 2549 2646 2453 0 0 0 0 0 0 28.83 26.29 28.83

3700 1.27 161.0 3570 632 2645 2453 28.8 5.3 222 3773 0.12 2.12 59.35 0.573 11270 0.097 0.028 3620 2024 2349 2447 2251 0 0 0 0 0 0 26.25 26.37 25.13

4060 end climb: SURFACE_DEPTH_REACHED

state 4060 begin surface coast

4119 end surface coast: CONTROL_FINISHED_OK

state 4119 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	454	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	80	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	57	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	INT_PRESSURE_YINT	0
D_TGT	990	SM_CC	375	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_ABORT	1030	N_FILEKB	4	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_NO_BLEED	200	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	1	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	0.003	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	3	LOGGERDEVICE1	53
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	86
T_DIVE	410	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_MISSION	430	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	48
T_NO_W	120	T_GPS_ALMANAC	0	PITCH_W_GAIN	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-194776.22	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
T_EPIRB	0	T_RSLEEP	3	CF8_MAXERRORS	0	XPDR_DEVICE	24
USE_BATHY	-1	STROBE	0	AH0_24V	150	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	AH0_10V	108	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	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	3200	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.8955164
MAX_BUOY	110	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	20	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	ALTIM_TOP_PING_RANGE	0	PM_PROFILE	1.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITPROFILE	1.0
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	14.0
HD_B	0.0116	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HD_C	9.4299997e-07	C_ROLL_DIVE	2300	ALTIM_PING_DELTA	10
HEADING	-1	C_ROLL_CLIMB	2025	ALTIM_FREQUENCY	13

GPS1	151213,172219,4751.242,-12512.219,17,1.7,17,17.2	TGT_NAME	SHELF
_CALLS	1	TGT_LATLONG	4751.930,-12510.270
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,172900,4751.228,-12512.131,39,1.0,39,17.2	MHEAD_RNG_PITCHd_Wd	88.5,2653,-15.8,-8.049,-22.04,2046
SPEED_LIMITS	0.139,0.199	D_GRID	210

FINISH	1.7,1.024153	_24V_AH	24.4,47.894
SM_CCo	4143,94.62,0.057,0,0,1480,375.06	_10V_AH	9.6,48.145
SM_GC	2.49,8.75,0.38,94.62,0.045,0.048,0.057,334,2306,1480,-8.89,-1.50,375.06,0,0,0,0,0,0,26.02,26.18,25.93	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4735.69,-12553.15,151213,161625	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	258768
HUMID	54.56	DATA_FILE_SIZE	10116,297
INTERNAL_PRESSURE	9.02378	CAP_FILE_SIZE	65141,0
TCM_TEMP	18.40	CFSIZE	260034560,204812288
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3792896	CURRENT	0.160, 5.7,1
PM_FREEKB	2812428	GPS	151213,184112,4751.407,-12511.633,16,1.6,16,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	236	121.56	nil	0	0	0.00
Roll_motor	20	59	30.47	nil	0	0	0.00
VBD_pump_during_apogee	317	661	5126.79	nil	0	0	0.00
VBD_pump_during_surface	94	56	130.70	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	4122	6	691.97
Iridium_during_xfer	191	119	557.77	PMAR	92	9	21.84
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	29	11.62
TT8	843	11	95.14
LPSleep	2150	2	45.21
TT8_Active	431	11	48.71
TT8_Sampling	987	38	367.02
TT8_CF8	234	49	110.80
TT8_Kalman	0	0	0.00
Analog_circuits	1105	15	169.43
GPS_charging	0	0	0.00
Compass	642	7	46.22
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
23	-1.11	-107.1	335	2321	1538	1390	0.0	0.0	0	73	0.00	0.00	-42.45	0.000	16386	0.000	0.000	335	2322	2590	2632	2548	0	0	0	0	0	0	28.83	28.83	28.83
78	-1.11	-107.1	335	2323	2634	2554	3.0	-1.3	7	128	10.05	1.95	-24.02	0.000	18692	0.236	0.060	2828	3574	3452	3493	3412	0	0	0	0	0	0	25.39	26.03	26.51
359	-1.11	-107.1	1856	3573	3487	3414	50.8	-16.1	44	371	0.00	1.80	0.00	0.000	1030	0.000	0.025	2835	2291	3457	3497	3417	0	0	0	0	0	0	28.83	26.28	28.83
666	-1.11	-107.1	2835	2290	3499	3417	95.4	-14.5	60	677	0.00	1.95	0.00	0.000	260	0.000	0.042	2827	3579	3458	3499	3417	0	0	0	0	0	0	28.83	26.12	28.83
826	-1.11	-107.1	2827	3579	3498	3416	117.0	-13.9	67	837	0.00	1.80	0.00	0.000	1030	0.000	0.026	2834	2301	3458	3499	3417	0	0	0	0	0	0	28.83	26.39	28.83
1146	-1.11	-107.1	2835	2301	3499	3417	157.0	-11.8	83	1157	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2301	3458	3499	3417	0	0	0	0	0	0	28.83	28.83	28.83
1446	-1.11	-107.1	2834	2301	3499	3417	193.8	-12.9	98	1457	0.00	2.08	0.00	0.000	516	0.000	0.031	2838	913	3457	3498	3417	0	0	0	0	0	0	28.83	26.30	28.83
1480	-1.11	-107.1	1840	913	3489	3414	197.6	-12.9	99	1491	0.00	2.10	0.00	0.000	1030	0.000	0.031	2831	2302	3458	3499	3417	0	0	0	0	0	0	28.83	26.32	28.83
1582	end dive: TARGET_DEPTH_EXCEEDED
state	1582	begin apogee
1590	-0.25	0.0	2831	2030	3499	3416	211.1	-12.5	104	1736	0.90	0.00	129.65	0.662	10246	0.135	0.000	3115	2022	3003	3091	2916	0	0	0	0	0	0	25.46	28.83	24.56
1738	end apogee: CONTROL_FINISHED_OK
state	1738	begin climb
1741	1.11	107.1	3114	2022	3087	2912	216.2	0.0	111	1883	1.25	0.00	128.52	0.635	10758	0.080	0.000	3553	2022	2572	2674	2470	0	0	0	0	0	0	25.34	28.83	24.37
2172	1.11	107.1	3553	2022	2652	2457	175.3	10.4	133	2182	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2023	2553	2652	2455	0	0	0	0	0	0	28.83	28.83	28.83
2472	1.11	107.1	3553	2022	2649	2455	142.8	10.7	148	2482	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2022	2552	2649	2455	0	0	0	0	0	0	28.83	28.83	28.83
2773	1.11	107.1	3553	2022	2649	2454	112.0	10.1	163	2783	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2022	2550	2648	2453	0	0	0	0	0	0	28.83	28.83	28.83
3072	1.11	107.1	3553	2022	2647	2453	82.5	9.5	178	3083	0.00	2.12	0.00	0.000	516	0.000	0.034	3562	635	2550	2648	2453	0	0	0	0	0	0	28.83	26.25	28.83
3157	1.11	107.1	3562	634	2646	2453	75.5	9.8	181	3169	0.00	2.12	0.00	0.000	1030	0.000	0.028	3562	2023	2550	2647	2453	0	0	0	0	0	0	28.83	26.34	28.83
3462	1.11	107.1	3562	2022	2646	2454	43.8	9.2	200	3473	0.00	2.15	0.00	0.000	516	0.000	0.033	3570	632	2549	2646	2453	0	0	0	0	0	0	28.83	26.29	28.83
3700	1.27	161.0	3570	632	2645	2453	28.8	5.3	222	3773	0.12	2.12	59.35	0.573	11270	0.097	0.028	3620	2024	2349	2447	2251	0	0	0	0	0	0	26.25	26.37	25.13
4060	end climb: SURFACE_DEPTH_REACHED
state	4060	begin surface coast
4119	end surface coast: CONTROL_FINISHED_OK
state	4119	begin surface