Glider dive log

NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 26 * 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 26 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 18 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 12 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 -1593213.6 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 -1593213.6

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 18 VBD_MAX 3900

DEVICE6 -1 N_DIVES 0 R_STBD_OVSHOOT 12 VBD_MAXERRORS 1

DIVE 26 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 260614,152005,4753.644,-12507.557,12,1.5,28,18.7 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 1.27 MHEAD_RNG_PITCHd_Wd 202.6,4616,-14.3,-10.000,-21.83,2203

_SM_ANGLEo -73.6 D_GRID 143

GPS2 260614,152607,4753.633,-12507.557,17,1.5,17,18.7

Post-dive calculations and measurements:

FINISH 0.3,1.023559 _10V_AH 13.1,0.000

SM_CCo 2919,48.38,0.106,0,0,1260,400.08 FG_AHR_24Vo 0.000

SM_GC 1.31,9.35,0.60,48.38,0.100,0.124,0.106,397,2387,1260,-9.22,0.23,400.08,0,0,0,0,0,0,14.47,14.50,14.48 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12511.36,230407,030303 MEM 290840

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 10135,341

HUMID 48.22 CAP_FILE_SIZE 63810,0

INTERNAL_PRESSURE 8.95227 CFSIZE 260034560,255135744

TCM_TEMP 18.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 INTR 0,3154.27,0x2378ba,7,5

SC_FREEKB 3929696 EKF 3035,2873.469482,-7507.818848,0.246428,-0.000000,-0.000000,-0.063257,0.000735,0.001635,0.002290,0.009388,0.009388,0.000127

PM_FREEKB 62002752 CURRENT 0.068,224.5,1

_24V_AH 13.6,5.108 GPS 260614,161713,4753.389,-12507.937,14,2.0,14,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 435 143.41 nil 0 0 0.00

Roll_motor 36 145 72.05 nil 0 0 0.00

VBD_pump_during_apogee 333 850 3859.50 nil 0 0 0.00

VBD_pump_during_surface 48 106 69.96 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 2895 8 352.22

Iridium_during_xfer 170 148 344.44 PMAR 1258 4 71.87

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 22 5.25

TT8 989 10 132.42

LPSleep 857 2 24.61

TT8_Active 461 10 61.77

TT8_Sampling 786 28 298.26

TT8_CF8 248 35 116.25

TT8_Kalman 0 0 0.00

Analog_circuits 1013 10 132.72

GPS_charging 0 0 0.00

Compass 528 0 5.19

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 23 begin dive

26 -0.80 -155.7 397 2396 1385 1142 0.0 0.0 0 101 0.00 0.00 -70.10 0.000 16386 0.000 0.000 397 2396 3151 3175 3127 0 0 0 0 0 0 28.83 28.83 28.83

106 -0.80 -155.7 397 2396 3171 3127 4.2 -6.1 7 137 13.00 2.58 -5.82 0.000 18948 0.435 0.142 3092 985 3531 3526 3537 0 0 0 0 0 0 14.25 14.40 14.64

263 -0.77 -155.7 3092 986 3527 3538 42.3 -14.7 33 271 0.00 2.50 0.00 0.000 1030 0.000 0.108 3093 2403 3533 3527 3539 0 0 0 0 0 0 28.83 14.45 28.83

463 -0.75 -155.7 3092 2402 3527 3540 68.7 -13.3 53 472 0.00 2.50 0.00 0.000 516 0.000 0.117 3093 986 3533 3527 3540 0 0 0 0 0 0 28.83 14.52 28.83

507 -0.73 -155.7 3092 986 3526 3540 74.9 -13.2 60 519 0.00 2.50 0.00 0.000 1030 0.000 0.110 3092 2404 3533 3527 3540 0 0 0 0 0 0 28.83 14.50 28.83

700 -0.71 -155.7 3093 2404 3523 3541 99.4 -13.5 79 709 0.12 2.53 0.00 0.000 2308 0.293 0.122 3126 3818 3534 3528 3540 0 0 0 0 0 0 14.46 14.52 28.83

820 -0.71 -155.7 3130 3818 3528 3540 113.1 -10.8 99 829 0.00 2.53 0.00 0.000 1030 0.000 0.113 3126 2399 3534 3528 3541 0 0 0 0 0 0 28.83 14.51 28.83

1019 -0.71 -155.7 3126 2395 3527 3541 134.1 -11.0 119 1028 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 2395 3534 3527 3541 0 0 0 0 0 0 28.83 28.83 28.83

1105 end dive: TARGET_DEPTH_EXCEEDED

state 1105 begin apogee

1114 -0.32 0.0 3126 2698 3528 3541 143.7 -10.1 128 1240 0.38 0.00 118.68 0.851 10246 0.213 0.000 3243 2697 2889 2952 2827 0 0 0 0 0 0 14.49 28.83 13.80

1247 end apogee: CONTROL_FINISHED_OK

state 1247 begin climb

1250 0.80 155.7 3243 2698 2952 2821 150.2 0.0 141 1387 1.20 2.50 120.75 0.824 10500 0.164 0.125 3614 3999 2254 2407 2101 0 0 0 0 0 0 14.12 13.93 13.64

1423 0.74 155.7 3614 4003 2403 2100 138.5 14.8 166 1435 0.00 2.40 0.00 0.000 1030 0.000 0.115 3614 2697 2251 2403 2100 0 0 0 0 0 0 28.83 14.04 28.83

1617 0.70 155.7 3616 2696 2404 2099 113.5 11.6 185 1627 0.00 2.60 0.00 0.000 516 0.000 0.135 3617 1285 2250 2404 2096 0 0 0 0 0 0 28.83 14.26 28.83

1706 0.66 155.7 3616 1285 2403 2096 103.3 11.3 199 1717 0.17 2.58 0.00 0.000 5126 0.285 0.119 3578 2698 2249 2403 2095 0 0 0 0 0 0 14.26 14.33 28.83

1908 0.63 164.6 3578 2698 2403 2093 82.1 9.6 219 1921 0.00 0.00 6.75 0.791 8198 0.000 0.000 3577 2698 2224 2380 2069 0 0 0 0 0 0 28.83 28.83 14.07

2102 0.66 224.2 3578 2698 2378 2066 65.7 7.2 238 2161 0.00 2.45 47.17 0.770 8452 0.000 0.128 3577 4007 1971 2125 1817 0 0 0 0 0 0 28.83 14.27 14.00

2193 0.64 228.7 3578 4007 2123 1819 58.4 9.8 251 2206 0.00 2.38 2.67 0.495 9222 0.000 0.120 3577 2700 1960 2108 1813 0 0 0 0 0 0 28.83 14.29 13.90

2387 0.65 255.5 3578 2700 2109 1816 43.7 8.8 270 2421 0.00 2.70 22.48 0.762 8708 0.000 0.145 3579 1291 1846 1998 1694 0 0 0 0 0 0 28.83 14.27 14.05

2635 0.68 287.4 3580 1291 1997 1694 20.5 8.5 315 2662 0.00 2.55 15.10 0.190 9222 0.000 0.119 3579 2705 1721 1887 1555 0 0 0 0 0 0 28.83 14.42 14.37

2839 end climb: SURFACE_DEPTH_REACHED

state 2839 begin surface coast

2893 end surface coast: CONTROL_FINISHED_OK

state 2893 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	26	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	18	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	12	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	-1593213.6	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	260614,152005,4753.644,-12507.557,12,1.5,28,18.7	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	1.27	MHEAD_RNG_PITCHd_Wd	202.6,4616,-14.3,-10.000,-21.83,2203
_SM_ANGLEo	-73.6	D_GRID	143
GPS2	260614,152607,4753.633,-12507.557,17,1.5,17,18.7

FINISH	0.3,1.023559	_10V_AH	13.1,0.000
SM_CCo	2919,48.38,0.106,0,0,1260,400.08	FG_AHR_24Vo	0.000
SM_GC	1.31,9.35,0.60,48.38,0.100,0.124,0.106,397,2387,1260,-9.22,0.23,400.08,0,0,0,0,0,0,14.47,14.50,14.48	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12511.36,230407,030303	MEM	290840
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	10135,341
HUMID	48.22	CAP_FILE_SIZE	63810,0
INTERNAL_PRESSURE	8.95227	CFSIZE	260034560,255135744
TCM_TEMP	18.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	INTR	0,3154.27,0x2378ba,7,5
SC_FREEKB	3929696	EKF	3035,2873.469482,-7507.818848,0.246428,-0.000000,-0.000000,-0.063257,0.000735,0.001635,0.002290,0.009388,0.009388,0.000127
PM_FREEKB	62002752	CURRENT	0.068,224.5,1
_24V_AH	13.6,5.108	GPS	260614,161713,4753.389,-12507.937,14,2.0,14,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	435	143.41	nil	0	0	0.00
Roll_motor	36	145	72.05	nil	0	0	0.00
VBD_pump_during_apogee	333	850	3859.50	nil	0	0	0.00
VBD_pump_during_surface	48	106	69.96	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	2895	8	352.22
Iridium_during_xfer	170	148	344.44	PMAR	1258	4	71.87
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	22	5.25
TT8	989	10	132.42
LPSleep	857	2	24.61
TT8_Active	461	10	61.77
TT8_Sampling	786	28	298.26
TT8_CF8	248	35	116.25
TT8_Kalman	0	0	0.00
Analog_circuits	1013	10	132.72
GPS_charging	0	0	0.00
Compass	528	0	5.19
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	23	begin dive
26	-0.80	-155.7	397	2396	1385	1142	0.0	0.0	0	101	0.00	0.00	-70.10	0.000	16386	0.000	0.000	397	2396	3151	3175	3127	0	0	0	0	0	0	28.83	28.83	28.83
106	-0.80	-155.7	397	2396	3171	3127	4.2	-6.1	7	137	13.00	2.58	-5.82	0.000	18948	0.435	0.142	3092	985	3531	3526	3537	0	0	0	0	0	0	14.25	14.40	14.64
263	-0.77	-155.7	3092	986	3527	3538	42.3	-14.7	33	271	0.00	2.50	0.00	0.000	1030	0.000	0.108	3093	2403	3533	3527	3539	0	0	0	0	0	0	28.83	14.45	28.83
463	-0.75	-155.7	3092	2402	3527	3540	68.7	-13.3	53	472	0.00	2.50	0.00	0.000	516	0.000	0.117	3093	986	3533	3527	3540	0	0	0	0	0	0	28.83	14.52	28.83
507	-0.73	-155.7	3092	986	3526	3540	74.9	-13.2	60	519	0.00	2.50	0.00	0.000	1030	0.000	0.110	3092	2404	3533	3527	3540	0	0	0	0	0	0	28.83	14.50	28.83
700	-0.71	-155.7	3093	2404	3523	3541	99.4	-13.5	79	709	0.12	2.53	0.00	0.000	2308	0.293	0.122	3126	3818	3534	3528	3540	0	0	0	0	0	0	14.46	14.52	28.83
820	-0.71	-155.7	3130	3818	3528	3540	113.1	-10.8	99	829	0.00	2.53	0.00	0.000	1030	0.000	0.113	3126	2399	3534	3528	3541	0	0	0	0	0	0	28.83	14.51	28.83
1019	-0.71	-155.7	3126	2395	3527	3541	134.1	-11.0	119	1028	0.00	0.00	0.00	0.000	6	0.000	0.000	3127	2395	3534	3527	3541	0	0	0	0	0	0	28.83	28.83	28.83
1105	end dive: TARGET_DEPTH_EXCEEDED
state	1105	begin apogee
1114	-0.32	0.0	3126	2698	3528	3541	143.7	-10.1	128	1240	0.38	0.00	118.68	0.851	10246	0.213	0.000	3243	2697	2889	2952	2827	0	0	0	0	0	0	14.49	28.83	13.80
1247	end apogee: CONTROL_FINISHED_OK
state	1247	begin climb
1250	0.80	155.7	3243	2698	2952	2821	150.2	0.0	141	1387	1.20	2.50	120.75	0.824	10500	0.164	0.125	3614	3999	2254	2407	2101	0	0	0	0	0	0	14.12	13.93	13.64
1423	0.74	155.7	3614	4003	2403	2100	138.5	14.8	166	1435	0.00	2.40	0.00	0.000	1030	0.000	0.115	3614	2697	2251	2403	2100	0	0	0	0	0	0	28.83	14.04	28.83
1617	0.70	155.7	3616	2696	2404	2099	113.5	11.6	185	1627	0.00	2.60	0.00	0.000	516	0.000	0.135	3617	1285	2250	2404	2096	0	0	0	0	0	0	28.83	14.26	28.83
1706	0.66	155.7	3616	1285	2403	2096	103.3	11.3	199	1717	0.17	2.58	0.00	0.000	5126	0.285	0.119	3578	2698	2249	2403	2095	0	0	0	0	0	0	14.26	14.33	28.83
1908	0.63	164.6	3578	2698	2403	2093	82.1	9.6	219	1921	0.00	0.00	6.75	0.791	8198	0.000	0.000	3577	2698	2224	2380	2069	0	0	0	0	0	0	28.83	28.83	14.07
2102	0.66	224.2	3578	2698	2378	2066	65.7	7.2	238	2161	0.00	2.45	47.17	0.770	8452	0.000	0.128	3577	4007	1971	2125	1817	0	0	0	0	0	0	28.83	14.27	14.00
2193	0.64	228.7	3578	4007	2123	1819	58.4	9.8	251	2206	0.00	2.38	2.67	0.495	9222	0.000	0.120	3577	2700	1960	2108	1813	0	0	0	0	0	0	28.83	14.29	13.90
2387	0.65	255.5	3578	2700	2109	1816	43.7	8.8	270	2421	0.00	2.70	22.48	0.762	8708	0.000	0.145	3579	1291	1846	1998	1694	0	0	0	0	0	0	28.83	14.27	14.05
2635	0.68	287.4	3580	1291	1997	1694	20.5	8.5	315	2662	0.00	2.55	15.10	0.190	9222	0.000	0.119	3579	2705	1721	1887	1555	0	0	0	0	0	0	28.83	14.42	14.37
2839	end climb: SURFACE_DEPTH_REACHED
state	2839	begin surface coast
2893	end surface coast: CONTROL_FINISHED_OK
state	2893	begin surface