Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 9 * 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 9 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 49 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 50 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 -193512.86 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 -193512.86

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 49 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 50 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 9 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 240913,092853,4748.201,-12507.494,17,1.7,17,17.2 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 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240913,093359,4748.154,-12507.523,19,1.2,19,17.2 MHEAD_RNG_PITCHd_Wd 214.2,167737,-16.6,-10.000,-22.18,2246

SPEED_LIMITS 0.173,0.245 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.9,1.023376 _10V_AH 9.9,11.056

SM_CCo 3932,49.47,0.058,0,0,969,500.17 FG_AHR_24Vo 0.000

SM_GC 1.63,8.60,0.28,49.47,0.037,0.058,0.058,340,2145,969,-8.96,-1.47,500.17,0,0,0,0,0,0,25.94,25.94,25.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12510.28,240913,080834 MEM 307824

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 10163,270

HUMID 60.19 CAP_FILE_SIZE 63941,0

INTERNAL_PRESSURE 9.05308 CFSIZE 260034560,242225152

TCM_TEMP 18.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

XPDR_PINGS 0 CURRENT 0.026,355.6,1

SC_FREEKB 3935136 GPS 240913,104203,4747.958,-12508.077,32,1.9,34,17.2

_24V_AH 24.2,2.073

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 243 125.98 nil 0 0 0.00

Roll_motor 30 64 48.13 nil 0 0 0.00

VBD_pump_during_apogee 454 713 7849.11 nil 0 0 0.00

VBD_pump_during_surface 49 58 69.61 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 3913 14 1344.95

Iridium_during_xfer 171 121 504.01 PMAR 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 29 6.24

TT8 782 11 90.98

LPSleep 1978 2 42.89

TT8_Active 523 11 60.93

TT8_Sampling 868 38 333.01

TT8_CF8 147 49 71.95

TT8_Kalman 0 0 0.00

Analog_circuits 1130 15 178.72

GPS_charging 0 0 0.00

Compass 652 7 48.35

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 18 begin dive

21 -0.73 -146.0 341 2168 1046 875 0.0 0.0 0 99 0.00 0.00 -74.78 0.000 16386 0.000 0.000 341 2168 3079 3069 3090 0 0 0 0 0 0 28.83 28.83 28.83

103 -0.73 -146.0 341 2168 3094 3075 3.5 -5.2 13 130 10.45 2.20 -9.43 0.000 18692 0.243 0.064 2979 3550 3609 3602 3617 0 0 0 0 0 0 25.85 26.08 26.37

287 -0.82 -146.0 2979 3550 3602 3632 35.7 -9.8 38 295 0.00 2.10 0.00 0.000 1030 0.000 0.033 2979 2132 3617 3603 3631 0 0 0 0 0 0 28.83 26.27 28.83

604 -0.88 -146.0 2979 2130 3604 3639 68.0 -9.1 61 609 0.00 2.20 0.00 0.000 260 0.000 0.051 2969 3550 3622 3604 3640 0 0 0 0 0 0 28.83 26.37 28.83

692 -0.94 -146.0 1952 3549 3597 3639 76.1 -9.6 65 698 0.12 2.05 0.00 0.000 5126 0.090 0.032 2911 2146 3622 3604 3641 0 0 0 0 0 0 26.42 26.46 28.83

1012 -0.94 -146.0 2910 2144 3604 3642 113.8 -11.8 81 1017 0.00 2.15 0.00 0.000 260 0.000 0.049 2900 3553 3623 3604 3642 0 0 0 0 0 0 28.83 26.50 28.83

1151 -0.94 -146.0 2900 3554 3604 3642 128.1 -11.4 87 1158 0.00 2.05 0.00 0.000 1030 0.000 0.033 2900 2142 3623 3604 3642 0 0 0 0 0 0 28.83 26.58 28.83

1457 -0.94 -146.0 2900 2140 3607 3642 163.9 -11.5 103 1458 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2140 3623 3604 3642 0 0 0 0 0 0 28.83 28.83 28.83

1615 end dive: TARGET_DEPTH_EXCEEDED

state 1615 begin apogee

1621 -0.17 0.0 2900 1934 3604 3641 181.9 -11.3 111 1767 0.82 0.00 131.73 0.710 10246 0.125 0.000 3175 1933 3009 3101 2917 0 0 0 0 1 0 26.49 28.83 24.49

1769 end apogee: CONTROL_FINISHED_OK

state 1769 begin climb

1771 0.73 146.0 3174 1933 3101 2916 187.8 0.0 118 1909 0.80 2.28 121.18 0.714 10756 0.054 0.044 3486 568 2412 2515 2309 0 0 0 0 1 0 25.21 24.86 24.25

1994 0.72 184.4 3486 567 2507 2308 181.2 8.2 129 2044 0.00 2.20 38.22 0.627 9222 0.000 0.036 3486 1947 2257 2372 2142 0 0 0 0 1 0 28.83 25.53 24.61

2343 0.69 184.4 3486 1947 2369 2133 143.4 10.5 147 2350 0.12 2.17 0.00 0.000 4356 0.161 0.046 3448 3350 2251 2369 2133 0 0 0 0 0 0 25.92 26.01 28.83

2430 0.70 188.7 3448 3351 2368 2131 135.0 9.8 151 2441 0.00 2.10 3.95 0.548 9222 0.000 0.034 3456 1959 2239 2359 2119 0 0 0 0 0 0 28.83 26.13 25.32

2755 0.73 214.4 3455 1959 2358 2119 106.9 8.8 167 2793 0.00 0.00 26.42 0.684 8710 0.000 0.000 3455 1958 2135 2261 2010 0 0 0 0 1 0 28.83 28.83 25.33

3095 0.85 274.2 3455 1958 2256 2006 78.4 7.3 184 3159 0.12 2.25 51.30 0.664 10500 0.091 0.047 3517 3349 1891 2015 1767 0 0 0 0 1 0 26.27 25.58 25.02

3242 0.81 274.2 3517 3349 2009 1766 62.7 11.9 191 3249 0.12 2.15 0.00 0.000 5126 0.160 0.034 3495 1954 1885 2008 1763 0 0 0 0 0 0 25.74 25.87 28.83

3553 0.90 306.2 3495 1954 2003 1759 33.6 8.5 215 3594 0.00 2.30 29.77 0.625 8708 0.000 0.044 3503 533 1760 1887 1633 0 0 0 0 1 0 28.83 25.82 25.26

3679 1.10 384.4 3503 534 1882 1632 24.5 6.4 227 3746 0.22 2.22 51.85 0.578 11270 0.067 0.037 3601 1950 1441 1568 1314 0 0 0 0 1 0 26.00 26.01 24.94

3880 end climb: SURFACE_DEPTH_REACHED

state 3880 begin surface coast

3912 end surface coast: CONTROL_FINISHED_OK

state 3912 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	9	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	49	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	50	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	-193512.86	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	240913,092853,4748.201,-12507.494,17,1.7,17,17.2	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	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240913,093359,4748.154,-12507.523,19,1.2,19,17.2	MHEAD_RNG_PITCHd_Wd	214.2,167737,-16.6,-10.000,-22.18,2246
SPEED_LIMITS	0.173,0.245	D_GRID	1000

FINISH	0.9,1.023376	_10V_AH	9.9,11.056
SM_CCo	3932,49.47,0.058,0,0,969,500.17	FG_AHR_24Vo	0.000
SM_GC	1.63,8.60,0.28,49.47,0.037,0.058,0.058,340,2145,969,-8.96,-1.47,500.17,0,0,0,0,0,0,25.94,25.94,25.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12510.28,240913,080834	MEM	307824
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	10163,270
HUMID	60.19	CAP_FILE_SIZE	63941,0
INTERNAL_PRESSURE	9.05308	CFSIZE	260034560,242225152
TCM_TEMP	18.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
XPDR_PINGS	0	CURRENT	0.026,355.6,1
SC_FREEKB	3935136	GPS	240913,104203,4747.958,-12508.077,32,1.9,34,17.2
_24V_AH	24.2,2.073

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	243	125.98	nil	0	0	0.00
Roll_motor	30	64	48.13	nil	0	0	0.00
VBD_pump_during_apogee	454	713	7849.11	nil	0	0	0.00
VBD_pump_during_surface	49	58	69.61	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	3913	14	1344.95
Iridium_during_xfer	171	121	504.01	PMAR	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	29	6.24
TT8	782	11	90.98
LPSleep	1978	2	42.89
TT8_Active	523	11	60.93
TT8_Sampling	868	38	333.01
TT8_CF8	147	49	71.95
TT8_Kalman	0	0	0.00
Analog_circuits	1130	15	178.72
GPS_charging	0	0	0.00
Compass	652	7	48.35
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	18	begin dive
21	-0.73	-146.0	341	2168	1046	875	0.0	0.0	0	99	0.00	0.00	-74.78	0.000	16386	0.000	0.000	341	2168	3079	3069	3090	0	0	0	0	0	0	28.83	28.83	28.83
103	-0.73	-146.0	341	2168	3094	3075	3.5	-5.2	13	130	10.45	2.20	-9.43	0.000	18692	0.243	0.064	2979	3550	3609	3602	3617	0	0	0	0	0	0	25.85	26.08	26.37
287	-0.82	-146.0	2979	3550	3602	3632	35.7	-9.8	38	295	0.00	2.10	0.00	0.000	1030	0.000	0.033	2979	2132	3617	3603	3631	0	0	0	0	0	0	28.83	26.27	28.83
604	-0.88	-146.0	2979	2130	3604	3639	68.0	-9.1	61	609	0.00	2.20	0.00	0.000	260	0.000	0.051	2969	3550	3622	3604	3640	0	0	0	0	0	0	28.83	26.37	28.83
692	-0.94	-146.0	1952	3549	3597	3639	76.1	-9.6	65	698	0.12	2.05	0.00	0.000	5126	0.090	0.032	2911	2146	3622	3604	3641	0	0	0	0	0	0	26.42	26.46	28.83
1012	-0.94	-146.0	2910	2144	3604	3642	113.8	-11.8	81	1017	0.00	2.15	0.00	0.000	260	0.000	0.049	2900	3553	3623	3604	3642	0	0	0	0	0	0	28.83	26.50	28.83
1151	-0.94	-146.0	2900	3554	3604	3642	128.1	-11.4	87	1158	0.00	2.05	0.00	0.000	1030	0.000	0.033	2900	2142	3623	3604	3642	0	0	0	0	0	0	28.83	26.58	28.83
1457	-0.94	-146.0	2900	2140	3607	3642	163.9	-11.5	103	1458	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2140	3623	3604	3642	0	0	0	0	0	0	28.83	28.83	28.83
1615	end dive: TARGET_DEPTH_EXCEEDED
state	1615	begin apogee
1621	-0.17	0.0	2900	1934	3604	3641	181.9	-11.3	111	1767	0.82	0.00	131.73	0.710	10246	0.125	0.000	3175	1933	3009	3101	2917	0	0	0	0	1	0	26.49	28.83	24.49
1769	end apogee: CONTROL_FINISHED_OK
state	1769	begin climb
1771	0.73	146.0	3174	1933	3101	2916	187.8	0.0	118	1909	0.80	2.28	121.18	0.714	10756	0.054	0.044	3486	568	2412	2515	2309	0	0	0	0	1	0	25.21	24.86	24.25
1994	0.72	184.4	3486	567	2507	2308	181.2	8.2	129	2044	0.00	2.20	38.22	0.627	9222	0.000	0.036	3486	1947	2257	2372	2142	0	0	0	0	1	0	28.83	25.53	24.61
2343	0.69	184.4	3486	1947	2369	2133	143.4	10.5	147	2350	0.12	2.17	0.00	0.000	4356	0.161	0.046	3448	3350	2251	2369	2133	0	0	0	0	0	0	25.92	26.01	28.83
2430	0.70	188.7	3448	3351	2368	2131	135.0	9.8	151	2441	0.00	2.10	3.95	0.548	9222	0.000	0.034	3456	1959	2239	2359	2119	0	0	0	0	0	0	28.83	26.13	25.32
2755	0.73	214.4	3455	1959	2358	2119	106.9	8.8	167	2793	0.00	0.00	26.42	0.684	8710	0.000	0.000	3455	1958	2135	2261	2010	0	0	0	0	1	0	28.83	28.83	25.33
3095	0.85	274.2	3455	1958	2256	2006	78.4	7.3	184	3159	0.12	2.25	51.30	0.664	10500	0.091	0.047	3517	3349	1891	2015	1767	0	0	0	0	1	0	26.27	25.58	25.02
3242	0.81	274.2	3517	3349	2009	1766	62.7	11.9	191	3249	0.12	2.15	0.00	0.000	5126	0.160	0.034	3495	1954	1885	2008	1763	0	0	0	0	0	0	25.74	25.87	28.83
3553	0.90	306.2	3495	1954	2003	1759	33.6	8.5	215	3594	0.00	2.30	29.77	0.625	8708	0.000	0.044	3503	533	1760	1887	1633	0	0	0	0	1	0	28.83	25.82	25.26
3679	1.10	384.4	3503	534	1882	1632	24.5	6.4	227	3746	0.22	2.22	51.85	0.578	11270	0.067	0.037	3601	1950	1441	1568	1314	0	0	0	0	1	0	26.00	26.01	24.94
3880	end climb: SURFACE_DEPTH_REACHED
state	3880	begin surface coast
3912	end surface coast: CONTROL_FINISHED_OK
state	3912	begin surface