Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 632 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING -1 ROLL_MIN 236 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_TURN_MARGIN 0

DIVE 632 ESCAPE_HEADING_DELTA 10 ROLL_DEG 35 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2075 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 350 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 3 N_FILEKB 4 R_PORT_OVSHOOT 25 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 25 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0.69999999

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 2 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 470 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 540 CALL_TRIES 5 C_VBD 3150 DEVICE2 20

T_MISSION 600 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 83

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.00060000003 DEVICE6 -1

T_NO_W 300 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -1 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -37317.043 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH -7 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 115 PITCH_MIN 155 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2855 FG_AHR_24V 0 SEABIRD_T_G 0.0043543768

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006249955

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_YINT -61.597298 SEABIRD_T_I 2.3401506e-05

MASS 52000 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_J 2.4672308e-06

NAV_MODE 2 PITCH_GAIN 36 AD7714Ch0Gain 128 SEABIRD_C_G -9.9855604

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1126566

KALMAN_USE 2 PITCH_AD_RATE 165 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0021479612

HD_A 0.0046000001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002479906

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.0049999999 ALTIM_BOTTOM_PING_RANGE 0

HD_C 1.34e-05 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 200 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_OFFGRID 1000 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.0049999999 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 36 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3970 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.00060000003 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001138132 T_DIVE 540

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -61.597298 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0046000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -37317.043

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HD_C 1.34e-05 RAFOS_HIT_WINDOW 3600 T_MISSION 600

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH -7 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 187 ROLL_ADJ_GAIN 2 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2855 INT_PRESSURE_YINT 0.69999999 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2000 KALMAN_USE 2 ROLL_DEG 35 USE_BATHY -1

C_ROLL_DIVE 2075 KERMIT 0 ROLL_MAX 3800 USE_ICE 0

C_VBD 3150 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52000 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 115 R_STBD_OVSHOOT 25 VBD_MAXERRORS 1

DEVICE3 83 MINV_10V 8 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 632 NAV_MODE 2 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 3 N_GPS 20 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4672308e-06

D_FINISH 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 174936,4757.276,-12524.998,60,1.2,71,18.8 TGT_NAME CANYON

_CALLS 4 TGT_LATLONG 4801.600,-12521.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180710,4757.398,-12524.883,17,2.1,36,18.8 MHEAD_RNG_PITCHd_Wd 41.3,9149,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 342

Post-dive calculations and measurements:

FINISH 1.1,1.002235 _10V_AH 9.9,65.766

SM_CCo 9891,10.88,0.186,1,0,1723,350.04 FG_AHR_24Vo 0.000

SM_GC 3.17,0.00,0.00,10.88,0.000,0.000,0.186,144,2088,1723,-8.47,0.37,350.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4742.09,-12526.65,040100,181842 MEM 298364

TT8_MAMPS 0.054457 DATA_FILE_SIZE 66341,1191

HUMID 42.32 CAP_FILE_SIZE 132968,0

INTERNAL_PRESSURE 9.04993 CFSIZE 260165632,214990848

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.269,248.2,1

_24V_AH 23.9,67.017 GPS 101010,205407,4757.267,-12524.988,84,1.7,85,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 227 106.30 SBE_CT 816 24 468.14

Roll_motor 78 97 182.58 SBE_O2 921 19 418.53

VBD_pump_during_apogee 371 802 7127.18 WL_BBFL2VMT 1540 105 3864.68

VBD_pump_during_surface 10 185 48.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 104 103 257.87 nil 0 0 0.00

Iridium_during_connect 158 160 606.20 nil 0 0 0.00

Iridium_during_xfer 417 223 2223.80

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 50 18.62

TT8 0 19 0.00

LPSleep 6604 2 143.19

TT8_Active 437 19 85.82

TT8_Sampling 2893 39 1139.93

TT8_CF8 999 45 453.39

TT8_Kalman 0 0 0.00

Analog_circuits 1430 12 169.91

GPS_charging 0 0 0.00

Compass 2489 8 197.14

RAFOS 0 0 0.00

Transponder 0 30 0.16

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.45 -112.4 0.0 0.0 0 62 0.00 0.00 -47.10 0.000 2 0.000 0.000 130 2059 2847 0 0 0 0 0 0

65 -0.45 -112.4 3.1 -2.3 9 99 10.40 2.10 -19.33 0.000 4 0.228 0.075 2695 3322 3610 0 0 0 0 0 0

340 -0.45 -112.4 37.2 -11.9 60 346 0.00 1.98 0.00 0.000 6 0.000 0.048 2695 2069 3614 0 0 0 0 0 0

667 -0.45 -112.4 71.1 -9.0 121 673 0.00 2.05 0.00 0.000 4 0.000 0.063 2687 3314 3614 0 0 0 0 0 0

796 -0.45 -112.4 81.5 -8.0 145 801 0.00 1.92 0.00 0.000 6 0.000 0.047 2687 2085 3614 0 0 0 0 0 0

1123 -0.45 -112.4 112.2 -9.5 194 1126 0.00 2.00 0.00 0.000 4 0.000 0.063 2679 3305 3614 0 0 0 0 0 0

1181 -0.45 -112.4 117.2 -9.0 199 1188 0.00 1.88 0.00 0.000 6 0.000 0.048 2679 2109 3614 0 0 0 0 0 0

1497 -0.45 -112.4 146.1 -9.2 230 1501 0.00 1.95 0.00 0.000 4 0.000 0.064 2671 3305 3614 0 0 0 0 0 0

1566 -0.45 -112.4 152.5 -9.0 236 1572 0.10 1.88 0.00 0.000 6 0.110 0.048 2707 2109 3614 0 0 0 0 0 0

1882 -0.47 -112.4 174.0 -6.6 267 1885 0.00 1.98 0.00 0.000 4 0.000 0.066 2705 3314 3613 0 0 0 0 0 0

1940 -0.49 -112.4 177.8 -5.5 272 1945 0.00 1.85 0.00 0.000 6 0.000 0.049 2705 2129 3613 0 0 0 0 0 0

2255 -0.50 -112.4 197.2 -6.5 303 2259 0.00 1.95 0.00 0.000 4 0.000 0.066 2704 3315 3613 0 0 0 0 0 0

2282 -0.52 -112.4 198.7 -6.5 305 2287 0.00 1.85 0.00 0.000 6 0.000 0.051 2703 2141 3612 0 0 0 0 0 0

2597 -0.53 -112.4 221.5 -7.8 336 2601 0.00 1.92 0.00 0.000 4 0.000 0.066 2697 3309 3612 0 0 0 0 0 0

2634 -0.55 -112.4 224.3 -7.4 339 2643 0.00 1.83 0.00 0.000 6 0.000 0.050 2697 2151 3612 0 0 0 0 0 0

2952 -0.55 -112.4 249.5 -7.7 370 2952 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2151 3611 0 0 0 0 0 0

3262 -0.55 -112.4 273.4 -8.0 400 3265 0.00 1.88 0.00 0.000 4 0.000 0.067 2692 3315 3610 0 0 0 0 0 0

3299 -0.57 -112.4 276.5 -7.4 403 3305 0.00 1.83 0.00 0.000 6 0.000 0.051 2691 2158 3610 0 0 0 0 0 0

3614 -0.57 -112.4 301.6 -7.6 434 3618 0.00 1.90 0.00 0.000 4 0.000 0.066 2692 3307 3610 0 0 0 0 0 0

3641 -0.58 -112.4 303.7 -7.8 436 3646 0.00 1.83 0.00 0.000 6 0.000 0.051 2691 2152 3610 0 0 0 0 0 0

3956 -0.58 -112.4 326.8 -7.0 467 3959 0.00 1.90 0.00 0.000 4 0.000 0.067 2691 3299 3609 0 0 0 0 0 0

3988 -0.60 -112.4 328.9 -6.9 470 3991 0.00 1.77 0.00 0.000 6 0.000 0.051 2691 2172 3609 0 0 0 0 0 0

4162 end dive: TARGET_DEPTH_EXCEEDED

state 4162 begin apogee

4168 -0.14 0.0 342.5 7.9 487 4264 0.35 0.00 90.00 0.802 6 0.113 0.000 2806 1997 3150 0 0 0 0 0 0

4264 end apogee: CONTROL_FINISHED_OK

state 4264 begin climb

4267 0.45 112.4 346.0 0.0 497 4366 0.55 2.08 91.28 0.779 4 0.075 0.059 3012 774 2690 0 0 0 0 0 0

4488 0.45 137.2 340.8 5.2 518 4513 0.00 2.00 21.40 0.744 6 0.000 0.054 3012 2007 2589 0 0 0 0 0 0

4830 0.43 137.2 319.9 6.2 551 4834 0.00 2.00 0.00 0.000 4 0.000 0.063 3012 3239 2586 0 0 0 0 0 0

5071 0.41 137.2 302.7 7.3 573 5077 0.08 1.92 0.00 0.000 6 0.135 0.051 2994 2036 2585 0 0 0 0 0 0

5387 0.41 137.2 283.2 6.4 604 5390 0.00 1.98 0.00 0.000 4 0.000 0.064 2994 3236 2584 0 0 0 0 0 0

5477 0.39 137.2 276.8 7.0 612 5483 0.00 1.88 0.00 0.000 6 0.000 0.051 2999 2048 2584 0 0 0 0 0 0

5793 0.40 146.1 257.0 5.8 643 5805 0.00 1.98 7.82 0.664 4 0.000 0.064 2998 3244 2554 0 0 0 0 0 0

5859 0.38 146.1 253.1 6.3 649 5862 0.00 1.85 0.00 0.000 6 0.000 0.052 3004 2067 2553 0 0 0 0 0 0

6179 0.41 201.6 237.7 4.1 680 6230 0.00 0.00 46.40 0.734 6 0.000 0.000 3004 2066 2327 0 0 0 0 0 0

6540 0.42 224.7 219.3 5.3 715 6561 0.00 0.00 19.67 0.704 6 0.000 0.000 3004 2066 2233 0 0 0 0 0 0

6870 0.42 224.7 196.4 7.7 747 6873 0.00 2.10 0.00 0.000 4 0.000 0.063 3012 759 2229 0 0 0 0 0 0

6891 0.42 224.7 194.7 7.8 749 6894 0.00 2.08 0.00 0.000 6 0.000 0.055 3013 2061 2229 0 0 0 0 0 0

7212 0.42 224.7 169.8 7.5 780 7212 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2061 2229 0 0 0 0 0 0

7524 0.42 224.7 146.4 8.2 810 7525 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2061 2228 0 0 0 0 0 0

7834 0.42 224.7 121.6 7.3 840 7837 0.00 2.05 0.00 0.000 4 0.000 0.062 3013 768 2227 0 0 0 0 0 0

7866 0.42 224.7 119.2 7.7 843 7869 0.00 2.03 0.00 0.000 6 0.000 0.056 3013 2066 2227 0 0 0 0 0 0

8183 0.42 224.7 96.4 7.9 877 8188 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2066 2227 0 0 0 0 0 0

8509 0.42 227.1 74.6 6.0 938 8514 0.00 1.90 0.00 0.000 4 0.000 0.064 3014 3225 2227 0 0 0 0 0 0

8537 0.42 227.1 72.8 6.4 943 8543 0.00 1.88 0.00 0.000 6 0.000 0.053 3013 2051 2226 0 0 0 0 0 0

8863 0.43 241.7 53.1 5.6 1004 8886 0.00 2.08 14.30 0.610 4 0.000 0.063 3013 764 2163 0 0 0 0 0 0

8930 0.46 261.7 49.5 5.4 1016 8953 0.00 2.03 17.35 0.605 6 0.000 0.055 3013 2038 2083 0 0 0 0 0 0

9276 0.49 280.5 33.7 5.4 1080 9298 0.00 2.03 16.48 0.599 4 0.000 0.061 3013 766 2005 0 0 0 0 0 0

9341 0.56 337.7 30.9 4.0 1092 9396 0.00 2.00 47.00 0.601 6 0.000 0.056 3013 2017 1772 0 0 0 0 0 0

9718 0.65 337.7 10.2 7.8 1162 9724 0.15 2.03 0.00 0.000 4 0.111 0.061 3068 760 1764 0 0 0 0 0 0

9746 0.73 337.7 7.9 7.9 1167 9752 0.00 1.98 0.00 0.000 6 0.000 0.055 3068 1998 1764 0 0 0 0 0 0

9824 end climb: SURFACE_DEPTH_REACHED

state 9824 begin surface coast

9874 end surface coast: CONTROL_FINISHED_OK

state 9874 begin surface

ID	187	HEADING	-1	ROLL_MIN	236	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_TURN_MARGIN	0
DIVE	632	ESCAPE_HEADING_DELTA	10	ROLL_DEG	35	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2075	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	350	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	3	N_FILEKB	4	R_PORT_OVSHOOT	25	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	25	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0.69999999
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	2	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	470	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	540	CALL_TRIES	5	C_VBD	3150	DEVICE2	20
T_MISSION	600	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	83
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.00060000003	DEVICE6	-1
T_NO_W	300	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-37317.043	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	-7	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	115	PITCH_MIN	155	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2855	FG_AHR_24V	0	SEABIRD_T_G	0.0043543768
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006249955
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_YINT	-61.597298	SEABIRD_T_I	2.3401506e-05
MASS	52000	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_J	2.4672308e-06
NAV_MODE	2	PITCH_GAIN	36	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9855604
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1126566
KALMAN_USE	2	PITCH_AD_RATE	165	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0021479612
HD_A	0.0046000001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002479906
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.0049999999	ALTIM_BOTTOM_PING_RANGE	0
HD_C	1.34e-05	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0

GPS1	174936,4757.276,-12524.998,60,1.2,71,18.8	TGT_NAME	CANYON
_CALLS	4	TGT_LATLONG	4801.600,-12521.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180710,4757.398,-12524.883,17,2.1,36,18.8	MHEAD_RNG_PITCHd_Wd	41.3,9149,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	342

FINISH	1.1,1.002235	_10V_AH	9.9,65.766
SM_CCo	9891,10.88,0.186,1,0,1723,350.04	FG_AHR_24Vo	0.000
SM_GC	3.17,0.00,0.00,10.88,0.000,0.000,0.186,144,2088,1723,-8.47,0.37,350.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4742.09,-12526.65,040100,181842	MEM	298364
TT8_MAMPS	0.054457	DATA_FILE_SIZE	66341,1191
HUMID	42.32	CAP_FILE_SIZE	132968,0
INTERNAL_PRESSURE	9.04993	CFSIZE	260165632,214990848
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.269,248.2,1
_24V_AH	23.9,67.017	GPS	101010,205407,4757.267,-12524.988,84,1.7,85,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	227	106.30	SBE_CT	816	24	468.14
Roll_motor	78	97	182.58	SBE_O2	921	19	418.53
VBD_pump_during_apogee	371	802	7127.18	WL_BBFL2VMT	1540	105	3864.68
VBD_pump_during_surface	10	185	48.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	104	103	257.87	nil	0	0	0.00
Iridium_during_connect	158	160	606.20	nil	0	0	0.00
Iridium_during_xfer	417	223	2223.80
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	50	18.62
TT8	0	19	0.00
LPSleep	6604	2	143.19
TT8_Active	437	19	85.82
TT8_Sampling	2893	39	1139.93
TT8_CF8	999	45	453.39
TT8_Kalman	0	0	0.00
Analog_circuits	1430	12	169.91
GPS_charging	0	0	0.00
Compass	2489	8	197.14
RAFOS	0	0	0.00
Transponder	0	30	0.16

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.45	-112.4	0.0	0.0	0	62	0.00	0.00	-47.10	0.000	2	0.000	0.000	130	2059	2847	0	0	0	0	0	0
65	-0.45	-112.4	3.1	-2.3	9	99	10.40	2.10	-19.33	0.000	4	0.228	0.075	2695	3322	3610	0	0	0	0	0	0
340	-0.45	-112.4	37.2	-11.9	60	346	0.00	1.98	0.00	0.000	6	0.000	0.048	2695	2069	3614	0	0	0	0	0	0
667	-0.45	-112.4	71.1	-9.0	121	673	0.00	2.05	0.00	0.000	4	0.000	0.063	2687	3314	3614	0	0	0	0	0	0
796	-0.45	-112.4	81.5	-8.0	145	801	0.00	1.92	0.00	0.000	6	0.000	0.047	2687	2085	3614	0	0	0	0	0	0
1123	-0.45	-112.4	112.2	-9.5	194	1126	0.00	2.00	0.00	0.000	4	0.000	0.063	2679	3305	3614	0	0	0	0	0	0
1181	-0.45	-112.4	117.2	-9.0	199	1188	0.00	1.88	0.00	0.000	6	0.000	0.048	2679	2109	3614	0	0	0	0	0	0
1497	-0.45	-112.4	146.1	-9.2	230	1501	0.00	1.95	0.00	0.000	4	0.000	0.064	2671	3305	3614	0	0	0	0	0	0
1566	-0.45	-112.4	152.5	-9.0	236	1572	0.10	1.88	0.00	0.000	6	0.110	0.048	2707	2109	3614	0	0	0	0	0	0
1882	-0.47	-112.4	174.0	-6.6	267	1885	0.00	1.98	0.00	0.000	4	0.000	0.066	2705	3314	3613	0	0	0	0	0	0
1940	-0.49	-112.4	177.8	-5.5	272	1945	0.00	1.85	0.00	0.000	6	0.000	0.049	2705	2129	3613	0	0	0	0	0	0
2255	-0.50	-112.4	197.2	-6.5	303	2259	0.00	1.95	0.00	0.000	4	0.000	0.066	2704	3315	3613	0	0	0	0	0	0
2282	-0.52	-112.4	198.7	-6.5	305	2287	0.00	1.85	0.00	0.000	6	0.000	0.051	2703	2141	3612	0	0	0	0	0	0
2597	-0.53	-112.4	221.5	-7.8	336	2601	0.00	1.92	0.00	0.000	4	0.000	0.066	2697	3309	3612	0	0	0	0	0	0
2634	-0.55	-112.4	224.3	-7.4	339	2643	0.00	1.83	0.00	0.000	6	0.000	0.050	2697	2151	3612	0	0	0	0	0	0
2952	-0.55	-112.4	249.5	-7.7	370	2952	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2151	3611	0	0	0	0	0	0
3262	-0.55	-112.4	273.4	-8.0	400	3265	0.00	1.88	0.00	0.000	4	0.000	0.067	2692	3315	3610	0	0	0	0	0	0
3299	-0.57	-112.4	276.5	-7.4	403	3305	0.00	1.83	0.00	0.000	6	0.000	0.051	2691	2158	3610	0	0	0	0	0	0
3614	-0.57	-112.4	301.6	-7.6	434	3618	0.00	1.90	0.00	0.000	4	0.000	0.066	2692	3307	3610	0	0	0	0	0	0
3641	-0.58	-112.4	303.7	-7.8	436	3646	0.00	1.83	0.00	0.000	6	0.000	0.051	2691	2152	3610	0	0	0	0	0	0
3956	-0.58	-112.4	326.8	-7.0	467	3959	0.00	1.90	0.00	0.000	4	0.000	0.067	2691	3299	3609	0	0	0	0	0	0
3988	-0.60	-112.4	328.9	-6.9	470	3991	0.00	1.77	0.00	0.000	6	0.000	0.051	2691	2172	3609	0	0	0	0	0	0
4162	end dive: TARGET_DEPTH_EXCEEDED
state	4162	begin apogee
4168	-0.14	0.0	342.5	7.9	487	4264	0.35	0.00	90.00	0.802	6	0.113	0.000	2806	1997	3150	0	0	0	0	0	0
4264	end apogee: CONTROL_FINISHED_OK
state	4264	begin climb
4267	0.45	112.4	346.0	0.0	497	4366	0.55	2.08	91.28	0.779	4	0.075	0.059	3012	774	2690	0	0	0	0	0	0
4488	0.45	137.2	340.8	5.2	518	4513	0.00	2.00	21.40	0.744	6	0.000	0.054	3012	2007	2589	0	0	0	0	0	0
4830	0.43	137.2	319.9	6.2	551	4834	0.00	2.00	0.00	0.000	4	0.000	0.063	3012	3239	2586	0	0	0	0	0	0
5071	0.41	137.2	302.7	7.3	573	5077	0.08	1.92	0.00	0.000	6	0.135	0.051	2994	2036	2585	0	0	0	0	0	0
5387	0.41	137.2	283.2	6.4	604	5390	0.00	1.98	0.00	0.000	4	0.000	0.064	2994	3236	2584	0	0	0	0	0	0
5477	0.39	137.2	276.8	7.0	612	5483	0.00	1.88	0.00	0.000	6	0.000	0.051	2999	2048	2584	0	0	0	0	0	0
5793	0.40	146.1	257.0	5.8	643	5805	0.00	1.98	7.82	0.664	4	0.000	0.064	2998	3244	2554	0	0	0	0	0	0
5859	0.38	146.1	253.1	6.3	649	5862	0.00	1.85	0.00	0.000	6	0.000	0.052	3004	2067	2553	0	0	0	0	0	0
6179	0.41	201.6	237.7	4.1	680	6230	0.00	0.00	46.40	0.734	6	0.000	0.000	3004	2066	2327	0	0	0	0	0	0
6540	0.42	224.7	219.3	5.3	715	6561	0.00	0.00	19.67	0.704	6	0.000	0.000	3004	2066	2233	0	0	0	0	0	0
6870	0.42	224.7	196.4	7.7	747	6873	0.00	2.10	0.00	0.000	4	0.000	0.063	3012	759	2229	0	0	0	0	0	0
6891	0.42	224.7	194.7	7.8	749	6894	0.00	2.08	0.00	0.000	6	0.000	0.055	3013	2061	2229	0	0	0	0	0	0
7212	0.42	224.7	169.8	7.5	780	7212	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2061	2229	0	0	0	0	0	0
7524	0.42	224.7	146.4	8.2	810	7525	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2061	2228	0	0	0	0	0	0
7834	0.42	224.7	121.6	7.3	840	7837	0.00	2.05	0.00	0.000	4	0.000	0.062	3013	768	2227	0	0	0	0	0	0
7866	0.42	224.7	119.2	7.7	843	7869	0.00	2.03	0.00	0.000	6	0.000	0.056	3013	2066	2227	0	0	0	0	0	0
8183	0.42	224.7	96.4	7.9	877	8188	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2066	2227	0	0	0	0	0	0
8509	0.42	227.1	74.6	6.0	938	8514	0.00	1.90	0.00	0.000	4	0.000	0.064	3014	3225	2227	0	0	0	0	0	0
8537	0.42	227.1	72.8	6.4	943	8543	0.00	1.88	0.00	0.000	6	0.000	0.053	3013	2051	2226	0	0	0	0	0	0
8863	0.43	241.7	53.1	5.6	1004	8886	0.00	2.08	14.30	0.610	4	0.000	0.063	3013	764	2163	0	0	0	0	0	0
8930	0.46	261.7	49.5	5.4	1016	8953	0.00	2.03	17.35	0.605	6	0.000	0.055	3013	2038	2083	0	0	0	0	0	0
9276	0.49	280.5	33.7	5.4	1080	9298	0.00	2.03	16.48	0.599	4	0.000	0.061	3013	766	2005	0	0	0	0	0	0
9341	0.56	337.7	30.9	4.0	1092	9396	0.00	2.00	47.00	0.601	6	0.000	0.056	3013	2017	1772	0	0	0	0	0	0
9718	0.65	337.7	10.2	7.8	1162	9724	0.15	2.03	0.00	0.000	4	0.111	0.061	3068	760	1764	0	0	0	0	0	0
9746	0.73	337.7	7.9	7.9	1167	9752	0.00	1.98	0.00	0.000	6	0.000	0.055	3068	1998	1764	0	0	0	0	0	0
9824	end climb: SURFACE_DEPTH_REACHED
state	9824	begin surface coast
9874	end surface coast: CONTROL_FINISHED_OK
state	9874	begin surface