Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 646 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING -1 ROLL_MIN 236 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_TURN_MARGIN 0

DIVE 646 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 350

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 25

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 26 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 27 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 -37668.129 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 10 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 25 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 350 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 -37668.129

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 26 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 115 R_STBD_OVSHOOT 27 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 646 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 124557,4801.895,-12520.390,93,5.8,113,18.8 TGT_NAME CANYON

_CALLS 2 TGT_LATLONG 4801.600,-12521.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 125601,4801.963,-12520.361,12,1.5,17,18.8 MHEAD_RNG_PITCHd_Wd 195.0,1038,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 377

Post-dive calculations and measurements:

FINISH 1.3,1.004721 _10V_AH 9.8,67.385

SM_CCo 9845,0.00,0.000,0,0,1547,393.22 FG_AHR_24Vo 0.000

SM_GC 1.96,7.70,0.00,0.00,0.043,0.000,0.000,138,2090,1547,-8.39,0.42,393.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4742.09,-12516.92,060100,121208 MEM 298440

TT8_MAMPS 0.052156 DATA_FILE_SIZE 63294,1145

HUMID 41.37 CAP_FILE_SIZE 125914,0

INTERNAL_PRESSURE 9.02063 CFSIZE 260165632,214011904

TCM_TEMP 16.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.111, 52.4,1

_24V_AH 23.7,68.458 GPS 121010,154106,4801.216,-12520.819,33,0.9,34,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 230 107.30 SBE_CT 785 24 446.98

Roll_motor 79 105 199.62 SBE_O2 899 19 404.85

VBD_pump_during_apogee 413 831 8155.83 WL_BBFL2VMT 1403 105 3492.75

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 123.69 nil 0 0 0.00

Iridium_during_connect 69 160 262.36 nil 0 0 0.00

Iridium_during_xfer 269 223 1424.24

Transponder_ping 0 420 4.98

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.57

TT8 0 19 0.00

LPSleep 6527 2 140.10

TT8_Active 428 19 83.09

TT8_Sampling 2777 39 1083.41

TT8_CF8 689 45 309.33

TT8_Kalman 0 0 0.00

Analog_circuits 1413 12 166.24

GPS_charging 0 0 0.00

Compass 2390 8 187.40

RAFOS 0 0 0.00

Transponder 5 30 1.48

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

10 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.45 -112.4 0.0 0.0 0 72 0.00 0.00 -56.97 0.000 2 0.000 0.000 131 2053 3080 0 0 0 0 0 0

74 -0.45 -112.4 3.3 -2.5 11 103 10.48 1.98 -11.52 0.000 4 0.230 0.074 2703 842 3612 0 0 0 0 0 0

199 -0.44 -112.4 27.8 -15.7 34 205 0.00 1.98 0.00 0.000 6 0.000 0.056 2697 2069 3613 0 0 0 0 0 0

527 -0.44 -112.4 58.5 -8.8 95 533 0.00 1.98 0.00 0.000 4 0.000 0.055 2697 833 3615 0 0 0 0 0 0

741 -0.44 -112.4 76.3 -8.8 135 746 0.00 1.95 0.00 0.000 6 0.000 0.053 2692 2063 3615 0 0 0 0 0 0

1070 -0.44 -112.4 105.6 -8.6 191 1073 0.00 2.03 0.00 0.000 4 0.000 0.064 2684 3312 3615 0 0 0 0 0 0

1118 -0.44 -112.4 109.8 -8.5 195 1124 0.00 1.98 0.00 0.000 6 0.000 0.049 2683 2059 3615 0 0 0 0 0 0

1434 -0.44 -112.4 138.8 -8.9 226 1437 0.00 2.03 0.00 0.000 4 0.000 0.064 2675 3309 3615 0 0 0 0 0 0

1498 -0.44 -112.4 144.9 -9.4 232 1501 0.12 1.92 0.00 0.000 6 0.135 0.050 2712 2072 3615 0 0 0 0 0 0

1818 -0.46 -112.4 168.2 -6.3 263 1821 0.00 2.05 0.00 0.000 4 0.000 0.065 2709 3312 3615 0 0 0 0 0 0

1855 -0.48 -112.4 170.8 -7.1 266 1862 0.00 1.95 0.00 0.000 6 0.000 0.051 2709 2076 3615 0 0 0 0 0 0

2171 -0.50 -112.4 190.5 -6.4 297 2174 0.00 2.03 0.00 0.000 4 0.000 0.065 2709 3308 3615 0 0 0 0 0 0

2197 -0.52 -112.4 192.1 -6.5 299 2202 0.00 1.95 0.00 0.000 6 0.000 0.051 2709 2073 3614 0 0 0 0 0 0

2512 -0.54 -112.4 214.2 -7.5 330 2513 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2071 3614 0 0 0 0 0 0

2824 -0.55 -112.4 236.9 -6.4 360 2827 0.00 2.00 0.00 0.000 4 0.000 0.065 2709 3308 3613 0 0 0 0 0 0

2872 -0.58 -112.4 240.3 -6.4 364 2877 0.12 1.90 0.00 0.000 6 0.091 0.051 2646 2087 3613 0 0 0 0 0 0

3187 -0.57 -112.4 272.3 -10.2 395 3191 0.00 2.03 0.00 0.000 4 0.000 0.067 2638 3313 3613 0 0 0 0 0 0

3231 -0.56 -112.4 276.7 -9.8 399 3234 0.08 1.92 0.00 0.000 6 0.120 0.051 2681 2097 3612 0 0 0 0 0 0

3551 -0.56 -112.4 299.3 -6.3 430 3552 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2096 3612 0 0 0 0 0 0

3864 -0.56 -112.4 318.8 -6.1 460 3867 0.00 1.95 0.00 0.000 4 0.000 0.065 2675 3312 3612 0 0 0 0 0 0

3917 -0.57 -112.4 322.5 -7.0 465 3920 0.00 1.92 0.00 0.000 6 0.000 0.052 2675 2098 3612 0 0 0 0 0 0

4238 -0.57 -112.4 345.1 -7.4 496 4239 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2098 3611 0 0 0 0 0 0

4549 -0.57 -112.4 367.8 -7.8 526 4552 0.00 1.95 0.00 0.000 4 0.000 0.067 2667 3308 3611 0 0 0 0 0 0

4634 -0.57 -112.4 374.5 -7.6 534 4637 0.00 1.90 0.00 0.000 6 0.000 0.052 2667 2095 3611 0 0 0 0 0 0

4662 end dive: TARGET_DEPTH_EXCEEDED

state 4662 begin apogee

4667 -0.14 0.0 377.2 8.6 537 4765 0.43 0.00 91.10 0.831 6 0.112 0.000 2806 1987 3150 0 0 0 0 0 0

4765 end apogee: CONTROL_FINISHED_OK

state 4765 begin climb

4768 0.45 112.4 380.5 0.0 547 4867 0.55 2.08 92.18 0.808 4 0.076 0.060 3010 771 2690 0 0 0 0 0 0

4910 0.46 160.9 379.2 4.3 560 4957 0.00 2.00 41.33 0.785 6 0.000 0.054 3010 2001 2494 0 0 0 0 0 0

5266 0.44 160.9 353.9 7.0 595 5270 0.00 2.03 0.00 0.000 4 0.000 0.064 3010 3247 2488 0 0 0 0 0 0

5423 0.42 160.9 342.4 7.3 609 5428 0.00 1.95 0.00 0.000 6 0.000 0.052 3017 2036 2487 0 0 0 0 0 0

5739 0.40 160.9 321.0 6.6 640 5740 0.12 0.00 0.00 0.000 6 0.160 0.000 2984 2036 2486 0 0 0 0 0 0

6049 0.44 220.6 307.1 3.9 670 6103 0.00 2.00 48.75 0.784 4 0.000 0.064 2983 3227 2250 0 0 0 0 0 0

6157 0.44 220.6 300.9 6.9 680 6163 0.00 1.98 0.00 0.000 6 0.000 0.054 2986 2019 2245 0 0 0 0 0 0

6473 0.47 281.1 285.4 3.9 711 6527 0.00 2.10 49.58 0.768 4 0.000 0.064 2986 767 2003 0 0 0 0 0 0

6576 0.53 333.5 281.1 4.2 720 6626 0.08 2.05 44.08 0.748 6 0.062 0.056 3032 2024 1789 0 0 0 0 0 0

6944 0.53 333.5 251.8 8.3 756 6944 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2026 1780 0 0 0 0 0 0

7255 0.53 333.5 222.9 9.1 786 7257 0.00 2.03 0.00 0.000 4 0.000 0.064 3038 763 1779 0 0 0 0 0 0

7291 0.53 333.5 219.7 8.4 789 7297 0.00 2.00 0.00 0.000 6 0.000 0.055 3038 2016 1779 0 0 0 0 0 0

7607 0.53 333.5 189.2 10.5 820 7610 0.00 1.92 0.00 0.000 4 0.000 0.063 3038 3234 1778 0 0 0 0 0 0

7649 0.53 333.5 184.5 11.6 824 7653 0.00 1.95 0.00 0.000 6 0.000 0.054 3041 2019 1777 0 0 0 0 0 0

7970 0.53 333.5 150.9 10.5 855 7974 0.00 2.03 0.00 0.000 4 0.000 0.064 3041 760 1777 0 0 0 0 0 0

8055 0.53 333.5 142.0 10.4 863 8059 0.00 1.98 0.00 0.000 6 0.000 0.054 3042 2007 1777 0 0 0 0 0 0

8376 0.53 333.5 108.7 9.3 894 8380 0.00 1.98 0.00 0.000 4 0.000 0.061 3042 3232 1777 0 0 0 0 0 0

8407 0.53 333.5 105.4 10.0 897 8411 0.00 1.98 0.00 0.000 6 0.000 0.054 3041 1999 1776 0 0 0 0 0 0

8732 0.53 333.5 74.4 9.8 952 8738 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 1998 1776 0 0 0 0 0 0

9059 0.53 333.5 47.8 7.8 1013 9064 0.00 1.98 0.00 0.000 4 0.000 0.064 3042 767 1776 0 0 0 0 0 0

9112 0.55 333.5 43.9 7.4 1023 9119 0.00 1.95 0.00 0.000 6 0.000 0.056 3041 1996 1776 0 0 0 0 0 0

9441 0.59 364.2 21.9 5.0 1084 9469 0.00 2.05 24.02 0.607 4 0.000 0.064 3042 3238 1664 0 0 0 0 0 0

9557 0.64 390.9 16.1 5.1 1105 9585 0.00 1.95 22.88 0.595 6 0.000 0.052 3042 2018 1555 0 0 0 0 0 0

9737 end climb: SURFACE_DEPTH_REACHED

state 9737 begin surface coast

9770 end surface coast: CONTROL_FINISHED_OK

state 9770 begin surface

ID	187	HEADING	-1	ROLL_MIN	236	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_TURN_MARGIN	0
DIVE	646	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	350
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	25
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	26	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	27	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	-37668.129	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	124557,4801.895,-12520.390,93,5.8,113,18.8	TGT_NAME	CANYON
_CALLS	2	TGT_LATLONG	4801.600,-12521.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	125601,4801.963,-12520.361,12,1.5,17,18.8	MHEAD_RNG_PITCHd_Wd	195.0,1038,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	377

FINISH	1.3,1.004721	_10V_AH	9.8,67.385
SM_CCo	9845,0.00,0.000,0,0,1547,393.22	FG_AHR_24Vo	0.000
SM_GC	1.96,7.70,0.00,0.00,0.043,0.000,0.000,138,2090,1547,-8.39,0.42,393.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4742.09,-12516.92,060100,121208	MEM	298440
TT8_MAMPS	0.052156	DATA_FILE_SIZE	63294,1145
HUMID	41.37	CAP_FILE_SIZE	125914,0
INTERNAL_PRESSURE	9.02063	CFSIZE	260165632,214011904
TCM_TEMP	16.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.111, 52.4,1
_24V_AH	23.7,68.458	GPS	121010,154106,4801.216,-12520.819,33,0.9,34,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	230	107.30	SBE_CT	785	24	446.98
Roll_motor	79	105	199.62	SBE_O2	899	19	404.85
VBD_pump_during_apogee	413	831	8155.83	WL_BBFL2VMT	1403	105	3492.75
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	123.69	nil	0	0	0.00
Iridium_during_connect	69	160	262.36	nil	0	0	0.00
Iridium_during_xfer	269	223	1424.24
Transponder_ping	0	420	4.98
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.57
TT8	0	19	0.00
LPSleep	6527	2	140.10
TT8_Active	428	19	83.09
TT8_Sampling	2777	39	1083.41
TT8_CF8	689	45	309.33
TT8_Kalman	0	0	0.00
Analog_circuits	1413	12	166.24
GPS_charging	0	0	0.00
Compass	2390	8	187.40
RAFOS	0	0	0.00
Transponder	5	30	1.48

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
10	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.45	-112.4	0.0	0.0	0	72	0.00	0.00	-56.97	0.000	2	0.000	0.000	131	2053	3080	0	0	0	0	0	0
74	-0.45	-112.4	3.3	-2.5	11	103	10.48	1.98	-11.52	0.000	4	0.230	0.074	2703	842	3612	0	0	0	0	0	0
199	-0.44	-112.4	27.8	-15.7	34	205	0.00	1.98	0.00	0.000	6	0.000	0.056	2697	2069	3613	0	0	0	0	0	0
527	-0.44	-112.4	58.5	-8.8	95	533	0.00	1.98	0.00	0.000	4	0.000	0.055	2697	833	3615	0	0	0	0	0	0
741	-0.44	-112.4	76.3	-8.8	135	746	0.00	1.95	0.00	0.000	6	0.000	0.053	2692	2063	3615	0	0	0	0	0	0
1070	-0.44	-112.4	105.6	-8.6	191	1073	0.00	2.03	0.00	0.000	4	0.000	0.064	2684	3312	3615	0	0	0	0	0	0
1118	-0.44	-112.4	109.8	-8.5	195	1124	0.00	1.98	0.00	0.000	6	0.000	0.049	2683	2059	3615	0	0	0	0	0	0
1434	-0.44	-112.4	138.8	-8.9	226	1437	0.00	2.03	0.00	0.000	4	0.000	0.064	2675	3309	3615	0	0	0	0	0	0
1498	-0.44	-112.4	144.9	-9.4	232	1501	0.12	1.92	0.00	0.000	6	0.135	0.050	2712	2072	3615	0	0	0	0	0	0
1818	-0.46	-112.4	168.2	-6.3	263	1821	0.00	2.05	0.00	0.000	4	0.000	0.065	2709	3312	3615	0	0	0	0	0	0
1855	-0.48	-112.4	170.8	-7.1	266	1862	0.00	1.95	0.00	0.000	6	0.000	0.051	2709	2076	3615	0	0	0	0	0	0
2171	-0.50	-112.4	190.5	-6.4	297	2174	0.00	2.03	0.00	0.000	4	0.000	0.065	2709	3308	3615	0	0	0	0	0	0
2197	-0.52	-112.4	192.1	-6.5	299	2202	0.00	1.95	0.00	0.000	6	0.000	0.051	2709	2073	3614	0	0	0	0	0	0
2512	-0.54	-112.4	214.2	-7.5	330	2513	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2071	3614	0	0	0	0	0	0
2824	-0.55	-112.4	236.9	-6.4	360	2827	0.00	2.00	0.00	0.000	4	0.000	0.065	2709	3308	3613	0	0	0	0	0	0
2872	-0.58	-112.4	240.3	-6.4	364	2877	0.12	1.90	0.00	0.000	6	0.091	0.051	2646	2087	3613	0	0	0	0	0	0
3187	-0.57	-112.4	272.3	-10.2	395	3191	0.00	2.03	0.00	0.000	4	0.000	0.067	2638	3313	3613	0	0	0	0	0	0
3231	-0.56	-112.4	276.7	-9.8	399	3234	0.08	1.92	0.00	0.000	6	0.120	0.051	2681	2097	3612	0	0	0	0	0	0
3551	-0.56	-112.4	299.3	-6.3	430	3552	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2096	3612	0	0	0	0	0	0
3864	-0.56	-112.4	318.8	-6.1	460	3867	0.00	1.95	0.00	0.000	4	0.000	0.065	2675	3312	3612	0	0	0	0	0	0
3917	-0.57	-112.4	322.5	-7.0	465	3920	0.00	1.92	0.00	0.000	6	0.000	0.052	2675	2098	3612	0	0	0	0	0	0
4238	-0.57	-112.4	345.1	-7.4	496	4239	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2098	3611	0	0	0	0	0	0
4549	-0.57	-112.4	367.8	-7.8	526	4552	0.00	1.95	0.00	0.000	4	0.000	0.067	2667	3308	3611	0	0	0	0	0	0
4634	-0.57	-112.4	374.5	-7.6	534	4637	0.00	1.90	0.00	0.000	6	0.000	0.052	2667	2095	3611	0	0	0	0	0	0
4662	end dive: TARGET_DEPTH_EXCEEDED
state	4662	begin apogee
4667	-0.14	0.0	377.2	8.6	537	4765	0.43	0.00	91.10	0.831	6	0.112	0.000	2806	1987	3150	0	0	0	0	0	0
4765	end apogee: CONTROL_FINISHED_OK
state	4765	begin climb
4768	0.45	112.4	380.5	0.0	547	4867	0.55	2.08	92.18	0.808	4	0.076	0.060	3010	771	2690	0	0	0	0	0	0
4910	0.46	160.9	379.2	4.3	560	4957	0.00	2.00	41.33	0.785	6	0.000	0.054	3010	2001	2494	0	0	0	0	0	0
5266	0.44	160.9	353.9	7.0	595	5270	0.00	2.03	0.00	0.000	4	0.000	0.064	3010	3247	2488	0	0	0	0	0	0
5423	0.42	160.9	342.4	7.3	609	5428	0.00	1.95	0.00	0.000	6	0.000	0.052	3017	2036	2487	0	0	0	0	0	0
5739	0.40	160.9	321.0	6.6	640	5740	0.12	0.00	0.00	0.000	6	0.160	0.000	2984	2036	2486	0	0	0	0	0	0
6049	0.44	220.6	307.1	3.9	670	6103	0.00	2.00	48.75	0.784	4	0.000	0.064	2983	3227	2250	0	0	0	0	0	0
6157	0.44	220.6	300.9	6.9	680	6163	0.00	1.98	0.00	0.000	6	0.000	0.054	2986	2019	2245	0	0	0	0	0	0
6473	0.47	281.1	285.4	3.9	711	6527	0.00	2.10	49.58	0.768	4	0.000	0.064	2986	767	2003	0	0	0	0	0	0
6576	0.53	333.5	281.1	4.2	720	6626	0.08	2.05	44.08	0.748	6	0.062	0.056	3032	2024	1789	0	0	0	0	0	0
6944	0.53	333.5	251.8	8.3	756	6944	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2026	1780	0	0	0	0	0	0
7255	0.53	333.5	222.9	9.1	786	7257	0.00	2.03	0.00	0.000	4	0.000	0.064	3038	763	1779	0	0	0	0	0	0
7291	0.53	333.5	219.7	8.4	789	7297	0.00	2.00	0.00	0.000	6	0.000	0.055	3038	2016	1779	0	0	0	0	0	0
7607	0.53	333.5	189.2	10.5	820	7610	0.00	1.92	0.00	0.000	4	0.000	0.063	3038	3234	1778	0	0	0	0	0	0
7649	0.53	333.5	184.5	11.6	824	7653	0.00	1.95	0.00	0.000	6	0.000	0.054	3041	2019	1777	0	0	0	0	0	0
7970	0.53	333.5	150.9	10.5	855	7974	0.00	2.03	0.00	0.000	4	0.000	0.064	3041	760	1777	0	0	0	0	0	0
8055	0.53	333.5	142.0	10.4	863	8059	0.00	1.98	0.00	0.000	6	0.000	0.054	3042	2007	1777	0	0	0	0	0	0
8376	0.53	333.5	108.7	9.3	894	8380	0.00	1.98	0.00	0.000	4	0.000	0.061	3042	3232	1777	0	0	0	0	0	0
8407	0.53	333.5	105.4	10.0	897	8411	0.00	1.98	0.00	0.000	6	0.000	0.054	3041	1999	1776	0	0	0	0	0	0
8732	0.53	333.5	74.4	9.8	952	8738	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	1998	1776	0	0	0	0	0	0
9059	0.53	333.5	47.8	7.8	1013	9064	0.00	1.98	0.00	0.000	4	0.000	0.064	3042	767	1776	0	0	0	0	0	0
9112	0.55	333.5	43.9	7.4	1023	9119	0.00	1.95	0.00	0.000	6	0.000	0.056	3041	1996	1776	0	0	0	0	0	0
9441	0.59	364.2	21.9	5.0	1084	9469	0.00	2.05	24.02	0.607	4	0.000	0.064	3042	3238	1664	0	0	0	0	0	0
9557	0.64	390.9	16.1	5.1	1105	9585	0.00	1.95	22.88	0.595	6	0.000	0.052	3042	2018	1555	0	0	0	0	0	0
9737	end climb: SURFACE_DEPTH_REACHED
state	9737	begin surface coast
9770	end surface coast: CONTROL_FINISHED_OK
state	9770	begin surface