Glider dive log

NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 11 * 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 11 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LAT 6000 R_PORT_OVSHOOT 48 XPDR_INHIBIT 90

D_SURF 4 TGT_DEFAULT_LON -5500 R_STBD_OVSHOOT 46 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 -193515.36 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 -193515.36

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 48 VBD_MAX 4001

DEVICE4 -1 NAV_MODE 2 R_STBD_OVSHOOT 46 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 11 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 240913,115241,4747.893,-12508.703,15,1.1,15,17.2 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 1.70 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240913,115729,4747.898,-12508.764,16,1.2,16,17.2 MHEAD_RNG_PITCHd_Wd 214.7,166159,-16.6,-10.000,-22.18,2246

SPEED_LIMITS 0.173,0.245 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.023406 _10V_AH 9.8,11.134

SM_CCo 4001,75.80,0.058,0,0,969,500.17 FG_AHR_24Vo 0.000

SM_GC 1.98,8.45,0.28,75.80,0.042,0.063,0.058,342,2149,969,-8.96,-1.36,500.17,0,0,0,0,0,0,26.15,26.15,26.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12503.98,240913,101006 MEM 307828

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 10154,276

HUMID 58.86 CAP_FILE_SIZE 65253,0

INTERNAL_PRESSURE 9.04332 CFSIZE 260034560,242147328

TCM_TEMP 18.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 0 CURRENT 0.052, 73.1,1

SC_FREEKB 3934496 GPS 240913,130648,4747.718,-12509.159,13,1.1,13,17.2

_24V_AH 24.2,2.243

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 245 126.88 nil 0 0 0.00

Roll_motor 30 63 47.48 nil 0 0 0.00

VBD_pump_during_apogee 424 709 7291.22 nil 0 0 0.00

VBD_pump_during_surface 75 58 106.65 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 3978 14 1349.67

Iridium_during_xfer 156 121 462.07 PMAR 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 29 5.17

TT8 810 11 93.35

LPSleep 2047 2 43.94

TT8_Active 525 11 60.46

TT8_Sampling 851 38 323.17

TT8_CF8 143 49 69.13

TT8_Kalman 0 0 0.00

Analog_circuits 1111 15 173.97

GPS_charging 0 0 0.00

Compass 656 7 48.22

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

22 -0.73 -146.0 338 2171 1042 881 0.0 0.0 0 101 0.00 0.00 -76.78 0.000 16386 0.000 0.000 338 2172 3139 3162 3117 0 0 0 0 0 0 28.83 28.83 28.83

105 -0.73 -146.0 338 2172 3170 3115 3.7 -6.0 13 132 10.43 2.12 -8.27 0.000 18692 0.246 0.063 2980 3559 3609 3598 3620 0 0 0 0 0 0 25.98 26.20 26.50

253 -0.78 -146.0 2979 3560 3599 3632 32.3 -11.7 34 258 0.00 2.10 0.00 0.000 1030 0.000 0.033 2979 2122 3615 3599 3631 0 0 0 0 0 0 28.83 26.34 28.83

577 -0.83 -146.0 2979 2119 3601 3639 64.7 -9.8 59 582 0.00 2.20 0.00 0.000 260 0.000 0.048 2971 3552 3620 3601 3639 0 0 0 0 0 0 28.83 26.43 28.83

645 -0.88 -146.0 2971 3552 3601 3640 71.5 -10.5 62 651 0.00 2.08 0.00 0.000 1030 0.000 0.033 2971 2138 3620 3601 3640 0 0 0 0 0 0 28.83 26.50 28.83

965 -0.95 -146.0 2970 2133 3602 3641 101.6 -8.1 78 971 0.12 2.17 0.00 0.000 4356 0.091 0.047 2895 3563 3621 3602 3641 0 0 0 0 0 0 26.57 26.53 28.83

1104 -0.90 -146.0 2895 3563 3602 3642 115.2 -11.6 84 1112 0.15 2.08 0.00 0.000 3078 0.144 0.034 2937 2139 3622 3602 3642 0 0 0 0 0 0 26.46 26.60 28.83

1411 -0.94 -146.0 2937 2138 3602 3641 148.2 -10.3 100 1412 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 2138 3621 3602 3641 0 0 0 0 0 0 28.83 28.83 28.83

1709 end dive: TARGET_DEPTH_EXCEEDED

state 1709 begin apogee

1716 -0.17 0.0 2937 1951 3602 3640 180.2 -10.5 115 1876 0.70 0.00 146.25 0.649 10246 0.121 0.000 3175 1950 3008 3099 2917 0 0 0 0 1 0 26.54 28.83 24.53

1877 end apogee: CONTROL_FINISHED_OK

state 1878 begin climb

1880 0.73 146.0 3175 1951 3098 2918 187.7 0.0 123 2018 0.80 2.30 121.20 0.710 10756 0.052 0.043 3489 555 2412 2514 2311 0 0 0 0 1 0 25.24 24.84 24.24

2098 0.73 178.8 3489 554 2505 2309 179.9 8.5 134 2145 0.00 2.22 34.08 0.606 9222 0.000 0.036 3492 1948 2279 2390 2169 0 0 0 0 1 0 28.83 25.49 24.63

2459 0.70 178.8 3489 1950 2387 2159 143.0 10.4 152 2466 0.12 2.15 0.00 0.000 4356 0.160 0.045 3448 3350 2273 2387 2160 0 0 0 0 0 0 25.93 26.01 28.83

2586 0.70 178.8 3448 3350 2387 2158 129.4 10.8 158 2592 0.00 2.12 0.00 0.000 1030 0.000 0.034 3456 1954 2271 2386 2157 0 0 0 0 0 0 28.83 26.16 28.83

2911 0.79 225.2 3456 1955 2387 2155 100.2 7.9 174 2959 0.00 0.00 41.55 0.689 8710 0.000 0.000 3456 1955 2090 2215 1966 0 0 0 0 1 0 28.83 28.83 25.18

3251 0.93 288.1 3456 1955 2207 1960 74.6 7.1 191 3315 0.17 2.30 53.03 0.658 10500 0.076 0.046 3538 3346 1834 1957 1712 0 0 0 0 1 0 26.20 25.50 24.94

3428 0.88 288.1 3538 3346 1949 1707 55.3 12.9 199 3435 0.15 2.17 0.00 0.000 5126 0.152 0.034 3508 1940 1828 1950 1706 0 0 0 0 0 0 25.73 25.86 28.83

3735 0.98 314.0 2624 1936 1889 1696 21.8 8.8 231 3772 0.12 2.17 24.08 0.571 10756 0.093 0.042 3580 542 1727 1853 1602 0 0 0 0 1 0 26.20 25.90 25.46

3893 0.99 323.9 3580 542 1846 1600 8.1 9.6 260 3908 0.12 2.20 4.22 0.075 13318 0.147 0.037 3547 1955 1687 1811 1563 0 0 0 0 0 0 25.98 26.09 26.03

3939 end climb: SURFACE_DEPTH_REACHED

state 3939 begin surface coast

3982 end surface coast: CONTROL_FINISHED_OK

state 3982 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	11	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LAT	6000	R_PORT_OVSHOOT	48	XPDR_INHIBIT	90
D_SURF	4	TGT_DEFAULT_LON	-5500	R_STBD_OVSHOOT	46	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	-193515.36	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	240913,115241,4747.893,-12508.703,15,1.1,15,17.2	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	1.70	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240913,115729,4747.898,-12508.764,16,1.2,16,17.2	MHEAD_RNG_PITCHd_Wd	214.7,166159,-16.6,-10.000,-22.18,2246
SPEED_LIMITS	0.173,0.245	D_GRID	1000

FINISH	0.7,1.023406	_10V_AH	9.8,11.134
SM_CCo	4001,75.80,0.058,0,0,969,500.17	FG_AHR_24Vo	0.000
SM_GC	1.98,8.45,0.28,75.80,0.042,0.063,0.058,342,2149,969,-8.96,-1.36,500.17,0,0,0,0,0,0,26.15,26.15,26.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12503.98,240913,101006	MEM	307828
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	10154,276
HUMID	58.86	CAP_FILE_SIZE	65253,0
INTERNAL_PRESSURE	9.04332	CFSIZE	260034560,242147328
TCM_TEMP	18.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	0	CURRENT	0.052, 73.1,1
SC_FREEKB	3934496	GPS	240913,130648,4747.718,-12509.159,13,1.1,13,17.2
_24V_AH	24.2,2.243

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	245	126.88	nil	0	0	0.00
Roll_motor	30	63	47.48	nil	0	0	0.00
VBD_pump_during_apogee	424	709	7291.22	nil	0	0	0.00
VBD_pump_during_surface	75	58	106.65	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	3978	14	1349.67
Iridium_during_xfer	156	121	462.07	PMAR	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	29	5.17
TT8	810	11	93.35
LPSleep	2047	2	43.94
TT8_Active	525	11	60.46
TT8_Sampling	851	38	323.17
TT8_CF8	143	49	69.13
TT8_Kalman	0	0	0.00
Analog_circuits	1111	15	173.97
GPS_charging	0	0	0.00
Compass	656	7	48.22
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
22	-0.73	-146.0	338	2171	1042	881	0.0	0.0	0	101	0.00	0.00	-76.78	0.000	16386	0.000	0.000	338	2172	3139	3162	3117	0	0	0	0	0	0	28.83	28.83	28.83
105	-0.73	-146.0	338	2172	3170	3115	3.7	-6.0	13	132	10.43	2.12	-8.27	0.000	18692	0.246	0.063	2980	3559	3609	3598	3620	0	0	0	0	0	0	25.98	26.20	26.50
253	-0.78	-146.0	2979	3560	3599	3632	32.3	-11.7	34	258	0.00	2.10	0.00	0.000	1030	0.000	0.033	2979	2122	3615	3599	3631	0	0	0	0	0	0	28.83	26.34	28.83
577	-0.83	-146.0	2979	2119	3601	3639	64.7	-9.8	59	582	0.00	2.20	0.00	0.000	260	0.000	0.048	2971	3552	3620	3601	3639	0	0	0	0	0	0	28.83	26.43	28.83
645	-0.88	-146.0	2971	3552	3601	3640	71.5	-10.5	62	651	0.00	2.08	0.00	0.000	1030	0.000	0.033	2971	2138	3620	3601	3640	0	0	0	0	0	0	28.83	26.50	28.83
965	-0.95	-146.0	2970	2133	3602	3641	101.6	-8.1	78	971	0.12	2.17	0.00	0.000	4356	0.091	0.047	2895	3563	3621	3602	3641	0	0	0	0	0	0	26.57	26.53	28.83
1104	-0.90	-146.0	2895	3563	3602	3642	115.2	-11.6	84	1112	0.15	2.08	0.00	0.000	3078	0.144	0.034	2937	2139	3622	3602	3642	0	0	0	0	0	0	26.46	26.60	28.83
1411	-0.94	-146.0	2937	2138	3602	3641	148.2	-10.3	100	1412	0.00	0.00	0.00	0.000	6	0.000	0.000	2937	2138	3621	3602	3641	0	0	0	0	0	0	28.83	28.83	28.83
1709	end dive: TARGET_DEPTH_EXCEEDED
state	1709	begin apogee
1716	-0.17	0.0	2937	1951	3602	3640	180.2	-10.5	115	1876	0.70	0.00	146.25	0.649	10246	0.121	0.000	3175	1950	3008	3099	2917	0	0	0	0	1	0	26.54	28.83	24.53
1877	end apogee: CONTROL_FINISHED_OK
state	1878	begin climb
1880	0.73	146.0	3175	1951	3098	2918	187.7	0.0	123	2018	0.80	2.30	121.20	0.710	10756	0.052	0.043	3489	555	2412	2514	2311	0	0	0	0	1	0	25.24	24.84	24.24
2098	0.73	178.8	3489	554	2505	2309	179.9	8.5	134	2145	0.00	2.22	34.08	0.606	9222	0.000	0.036	3492	1948	2279	2390	2169	0	0	0	0	1	0	28.83	25.49	24.63
2459	0.70	178.8	3489	1950	2387	2159	143.0	10.4	152	2466	0.12	2.15	0.00	0.000	4356	0.160	0.045	3448	3350	2273	2387	2160	0	0	0	0	0	0	25.93	26.01	28.83
2586	0.70	178.8	3448	3350	2387	2158	129.4	10.8	158	2592	0.00	2.12	0.00	0.000	1030	0.000	0.034	3456	1954	2271	2386	2157	0	0	0	0	0	0	28.83	26.16	28.83
2911	0.79	225.2	3456	1955	2387	2155	100.2	7.9	174	2959	0.00	0.00	41.55	0.689	8710	0.000	0.000	3456	1955	2090	2215	1966	0	0	0	0	1	0	28.83	28.83	25.18
3251	0.93	288.1	3456	1955	2207	1960	74.6	7.1	191	3315	0.17	2.30	53.03	0.658	10500	0.076	0.046	3538	3346	1834	1957	1712	0	0	0	0	1	0	26.20	25.50	24.94
3428	0.88	288.1	3538	3346	1949	1707	55.3	12.9	199	3435	0.15	2.17	0.00	0.000	5126	0.152	0.034	3508	1940	1828	1950	1706	0	0	0	0	0	0	25.73	25.86	28.83
3735	0.98	314.0	2624	1936	1889	1696	21.8	8.8	231	3772	0.12	2.17	24.08	0.571	10756	0.093	0.042	3580	542	1727	1853	1602	0	0	0	0	1	0	26.20	25.90	25.46
3893	0.99	323.9	3580	542	1846	1600	8.1	9.6	260	3908	0.12	2.20	4.22	0.075	13318	0.147	0.037	3547	1955	1687	1811	1563	0	0	0	0	0	0	25.98	26.09	26.03
3939	end climb: SURFACE_DEPTH_REACHED
state	3939	begin surface coast
3982	end surface coast: CONTROL_FINISHED_OK
state	3982	begin surface