Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 629 * 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 629 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 27 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 -37229.371 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 -37229.371

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 27 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 629 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 082927,4757.950,-12524.531,80,3.1,100,18.8 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 1.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 084639,4757.754,-12524.432,36,2.9,55,18.8 MHEAD_RNG_PITCHd_Wd 39.9,8294,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 386

Post-dive calculations and measurements:

FINISH 1.1,1.013199 _10V_AH 9.9,65.419

SM_CCo 10938,0.00,0.000,0,0,1706,354.21 FG_AHR_24Vo 0.000

SM_GC 2.36,7.68,0.00,0.00,0.038,0.000,0.000,140,2092,1706,-8.41,0.48,354.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12517.69,040100,080849 MEM 298376

TT8_MAMPS 0.052923 DATA_FILE_SIZE 72709,1271

HUMID 41.61 CAP_FILE_SIZE 141256,0

INTERNAL_PRESSURE 9.04993 CFSIZE 260165632,215191552

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.170,243.2,1

_24V_AH 23.8,66.661 GPS 101010,115000,4757.750,-12524.471,39,1.9,40,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 234 108.65 SBE_CT 871 24 497.78

Roll_motor 90 122 264.91 SBE_O2 985 19 445.64

VBD_pump_during_apogee 384 830 7606.40 WL_BBFL2VMT 1564 105 3909.19

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 108 103 266.72 nil 0 0 0.00

Iridium_during_connect 193 160 735.58 nil 0 0 0.00

Iridium_during_xfer 352 223 1872.68

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 56 50 27.81

TT8 0 19 0.00

LPSleep 7406 2 160.57

TT8_Active 427 19 83.78

TT8_Sampling 3131 39 1233.68

TT8_CF8 978 45 443.85

TT8_Kalman 0 0 0.00

Analog_circuits 1507 12 179.05

GPS_charging 0 0 0.00

Compass 2671 8 211.56

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.45 -112.4 0.0 0.0 0 70 0.00 0.00 -52.55 0.000 2 0.000 0.000 130 2064 2963 0 0 0 0 0 0

73 -0.45 -112.4 3.3 -2.3 10 106 10.57 2.08 -14.70 0.000 4 0.235 0.077 2694 3312 3611 0 0 0 0 0 0

347 -0.45 -112.4 42.8 -8.9 61 353 0.00 1.95 0.00 0.000 6 0.000 0.048 2694 2072 3614 0 0 0 0 0 0

674 -0.45 -112.4 75.5 -9.5 122 680 0.00 2.03 0.00 0.000 4 0.000 0.061 2686 3313 3615 0 0 0 0 0 0

787 -0.45 -112.4 86.7 -9.8 143 793 0.00 1.90 0.00 0.000 6 0.000 0.046 2686 2097 3615 0 0 0 0 0 0

1112 -0.45 -112.4 120.8 -10.1 186 1116 0.00 1.95 0.00 0.000 4 0.000 0.054 2686 855 3615 0 0 0 0 0 0

1219 -0.45 -112.4 131.1 -9.5 196 1222 0.00 1.92 0.00 0.000 6 0.000 0.053 2685 2107 3615 0 0 0 0 0 0

1539 -0.45 -112.4 157.3 -7.9 227 1543 0.00 1.95 0.00 0.000 4 0.000 0.063 2676 3299 3614 0 0 0 0 0 0

1685 -0.45 -112.4 168.6 -7.9 240 1692 0.08 1.88 0.00 0.000 6 0.113 0.049 2704 2108 3614 0 0 0 0 0 0

2000 -0.47 -112.4 188.5 -6.3 271 2003 0.00 1.95 0.00 0.000 4 0.000 0.066 2698 3312 3614 0 0 0 0 0 0

2091 -0.48 -112.4 194.6 -7.2 279 2096 0.00 1.85 0.00 0.000 6 0.000 0.050 2698 2130 3613 0 0 0 0 0 0

2406 -0.49 -112.4 215.2 -6.9 310 2409 0.00 1.88 0.00 0.000 4 0.000 0.066 2692 3308 3613 0 0 0 0 0 0

2503 -0.51 -112.4 221.8 -7.1 319 2506 0.00 1.83 0.00 0.000 6 0.000 0.050 2691 2136 3612 0 0 0 0 0 0

2823 -0.51 -112.4 245.2 -8.0 350 2827 0.00 1.90 0.00 0.000 4 0.000 0.065 2692 3303 3612 0 0 0 0 0 0

2882 -0.53 -112.4 250.1 -7.9 355 2887 0.00 1.80 0.00 0.000 6 0.000 0.049 2691 2140 3612 0 0 0 0 0 0

3197 -0.53 -112.4 271.7 -6.8 386 3201 0.00 2.05 0.00 0.000 4 0.000 0.056 2692 845 3611 0 0 0 0 0 0

3239 -0.53 -112.4 274.4 -6.6 390 3243 0.00 2.05 0.00 0.000 6 0.000 0.055 2692 2138 3611 0 0 0 0 0 0

3561 -0.53 -112.4 298.7 -7.2 421 3564 0.00 1.90 0.00 0.000 4 0.000 0.065 2691 3311 3610 0 0 0 0 0 0

3640 -0.54 -112.4 305.9 -8.0 428 3646 0.00 1.83 0.00 0.000 6 0.000 0.051 2691 2154 3610 0 0 0 0 0 0

3955 -0.54 -112.4 333.4 -8.3 459 3959 0.00 2.08 0.00 0.000 4 0.000 0.058 2691 850 3610 0 0 0 0 0 0

3982 -0.54 -112.4 335.6 -8.3 461 3987 0.00 2.08 0.00 0.000 6 0.000 0.056 2691 2149 3610 0 0 0 0 0 0

4297 -0.54 -112.4 356.6 -5.7 492 4301 0.00 1.90 0.00 0.000 4 0.000 0.067 2691 3305 3609 0 0 0 0 0 0

4345 -0.56 -112.4 359.9 -6.5 496 4352 0.00 1.83 0.00 0.000 6 0.000 0.049 2691 2145 3609 0 0 0 0 0 0

4661 -0.56 -112.4 381.4 -7.5 527 4664 0.00 2.05 0.00 0.000 4 0.000 0.058 2691 851 3609 0 0 0 0 0 0

4698 -0.57 -112.4 384.5 -8.0 530 4703 0.00 2.08 0.00 0.000 6 0.000 0.058 2691 2142 3609 0 0 0 0 0 0

4721 end dive: TARGET_DEPTH_EXCEEDED

state 4721 begin apogee

4727 -0.14 0.0 386.7 8.1 533 4819 0.35 0.00 90.57 0.831 6 0.110 0.000 2807 1992 3150 0 0 0 0 0 0

4820 end apogee: CONTROL_FINISHED_OK

state 4820 begin climb

4823 0.45 112.4 390.6 0.0 542 4925 0.55 2.10 91.97 0.805 4 0.075 0.061 3012 771 2690 0 0 0 0 0 0

4984 0.47 167.0 388.7 4.1 557 5033 0.00 1.98 46.08 0.788 6 0.000 0.054 3011 2003 2469 0 0 0 0 0 0

5346 0.45 167.0 364.1 6.8 592 5349 0.00 1.98 0.00 0.000 4 0.000 0.064 3012 3229 2463 0 0 0 0 0 0

5404 0.44 167.0 359.2 8.0 597 5410 0.00 1.95 0.00 0.000 6 0.000 0.053 3014 2019 2462 0 0 0 0 0 0

5721 0.42 167.0 336.6 7.7 628 5722 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2019 2462 0 0 0 0 0 0

6032 0.41 167.0 313.2 7.3 658 6033 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2018 2461 0 0 0 0 0 0

6343 0.40 167.0 289.8 6.7 688 6346 0.00 1.92 0.00 0.000 4 0.000 0.064 3014 3228 2461 0 0 0 0 0 0

6473 0.38 167.0 279.0 9.1 700 6476 0.15 1.90 0.00 0.000 6 0.147 0.052 2979 2020 2460 0 0 0 0 0 0

6788 0.39 177.4 258.9 5.7 730 6798 0.00 0.00 8.85 0.685 6 0.000 0.000 2978 2018 2426 0 0 0 0 0 0

7108 0.40 177.4 240.2 7.1 761 7109 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2017 2425 0 0 0 0 0 0

7420 0.40 177.4 222.8 6.3 791 7423 0.00 1.95 0.00 0.000 4 0.000 0.064 2978 3229 2424 0 0 0 0 0 0

7473 0.40 177.4 219.0 7.2 796 7477 0.00 1.90 0.00 0.000 6 0.000 0.054 2978 2039 2424 0 0 0 0 0 0

7793 0.40 189.3 200.9 5.7 827 7808 0.00 2.03 11.32 0.679 4 0.000 0.061 2978 766 2377 0 0 0 0 0 0

7830 0.43 198.7 198.8 5.8 830 7844 0.00 2.03 9.40 0.649 6 0.000 0.055 2977 2046 2339 0 0 0 0 0 0

8161 0.47 249.8 182.1 4.2 862 8207 0.00 2.00 42.33 0.700 4 0.000 0.064 2978 3235 2130 0 0 0 0 0 0

8270 0.50 275.8 176.7 5.2 872 8296 0.08 1.90 22.23 0.673 6 0.063 0.053 3026 2068 2025 0 0 0 0 0 0

8613 0.50 275.8 148.8 8.5 905 8617 0.00 2.12 0.00 0.000 4 0.000 0.063 3032 770 2019 0 0 0 0 0 0

8683 0.50 275.8 143.0 8.5 911 8688 0.00 2.03 0.00 0.000 6 0.000 0.056 3032 2054 2019 0 0 0 0 0 0

8998 0.50 275.8 115.9 8.5 942 8998 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2055 2018 0 0 0 0 0 0

9313 0.50 275.8 92.0 7.1 983 9318 0.00 2.08 0.00 0.000 4 0.000 0.062 3040 768 2017 0 0 0 0 0 0

9350 0.50 275.8 89.4 6.7 990 9356 0.00 2.00 0.00 0.000 6 0.000 0.056 3040 2026 2017 0 0 0 0 0 0

9677 0.50 275.8 64.7 7.2 1051 9682 0.00 1.95 0.00 0.000 4 0.000 0.063 3040 3236 2016 0 0 0 0 0 0

9704 0.50 275.8 62.7 7.1 1056 9710 0.00 1.95 0.00 0.000 6 0.000 0.053 3046 2013 2015 0 0 0 0 0 0

10031 0.50 275.8 39.3 8.0 1117 10037 0.00 2.00 0.00 0.000 4 0.000 0.063 3050 760 2015 0 0 0 0 0 0

10107 0.51 276.3 34.6 6.1 1131 10113 0.00 1.95 0.00 0.000 6 0.000 0.055 3050 1994 2015 0 0 0 0 0 0

10436 0.56 320.8 19.9 4.5 1192 10480 0.00 2.00 36.05 0.604 4 0.000 0.061 3050 767 1841 0 0 0 0 0 0

10588 0.61 351.5 13.1 5.0 1220 10622 0.00 2.03 25.95 0.585 6 0.000 0.055 3050 2033 1714 0 0 0 0 0 0

10791 end climb: SURFACE_DEPTH_REACHED

state 10791 begin surface coast

10863 end surface coast: CONTROL_FINISHED_OK

state 10863 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	629	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	27	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	-37229.371	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	082927,4757.950,-12524.531,80,3.1,100,18.8	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	1.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	084639,4757.754,-12524.432,36,2.9,55,18.8	MHEAD_RNG_PITCHd_Wd	39.9,8294,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	386

FINISH	1.1,1.013199	_10V_AH	9.9,65.419
SM_CCo	10938,0.00,0.000,0,0,1706,354.21	FG_AHR_24Vo	0.000
SM_GC	2.36,7.68,0.00,0.00,0.038,0.000,0.000,140,2092,1706,-8.41,0.48,354.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12517.69,040100,080849	MEM	298376
TT8_MAMPS	0.052923	DATA_FILE_SIZE	72709,1271
HUMID	41.61	CAP_FILE_SIZE	141256,0
INTERNAL_PRESSURE	9.04993	CFSIZE	260165632,215191552
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.170,243.2,1
_24V_AH	23.8,66.661	GPS	101010,115000,4757.750,-12524.471,39,1.9,40,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	234	108.65	SBE_CT	871	24	497.78
Roll_motor	90	122	264.91	SBE_O2	985	19	445.64
VBD_pump_during_apogee	384	830	7606.40	WL_BBFL2VMT	1564	105	3909.19
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	108	103	266.72	nil	0	0	0.00
Iridium_during_connect	193	160	735.58	nil	0	0	0.00
Iridium_during_xfer	352	223	1872.68
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	56	50	27.81
TT8	0	19	0.00
LPSleep	7406	2	160.57
TT8_Active	427	19	83.78
TT8_Sampling	3131	39	1233.68
TT8_CF8	978	45	443.85
TT8_Kalman	0	0	0.00
Analog_circuits	1507	12	179.05
GPS_charging	0	0	0.00
Compass	2671	8	211.56
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.45	-112.4	0.0	0.0	0	70	0.00	0.00	-52.55	0.000	2	0.000	0.000	130	2064	2963	0	0	0	0	0	0
73	-0.45	-112.4	3.3	-2.3	10	106	10.57	2.08	-14.70	0.000	4	0.235	0.077	2694	3312	3611	0	0	0	0	0	0
347	-0.45	-112.4	42.8	-8.9	61	353	0.00	1.95	0.00	0.000	6	0.000	0.048	2694	2072	3614	0	0	0	0	0	0
674	-0.45	-112.4	75.5	-9.5	122	680	0.00	2.03	0.00	0.000	4	0.000	0.061	2686	3313	3615	0	0	0	0	0	0
787	-0.45	-112.4	86.7	-9.8	143	793	0.00	1.90	0.00	0.000	6	0.000	0.046	2686	2097	3615	0	0	0	0	0	0
1112	-0.45	-112.4	120.8	-10.1	186	1116	0.00	1.95	0.00	0.000	4	0.000	0.054	2686	855	3615	0	0	0	0	0	0
1219	-0.45	-112.4	131.1	-9.5	196	1222	0.00	1.92	0.00	0.000	6	0.000	0.053	2685	2107	3615	0	0	0	0	0	0
1539	-0.45	-112.4	157.3	-7.9	227	1543	0.00	1.95	0.00	0.000	4	0.000	0.063	2676	3299	3614	0	0	0	0	0	0
1685	-0.45	-112.4	168.6	-7.9	240	1692	0.08	1.88	0.00	0.000	6	0.113	0.049	2704	2108	3614	0	0	0	0	0	0
2000	-0.47	-112.4	188.5	-6.3	271	2003	0.00	1.95	0.00	0.000	4	0.000	0.066	2698	3312	3614	0	0	0	0	0	0
2091	-0.48	-112.4	194.6	-7.2	279	2096	0.00	1.85	0.00	0.000	6	0.000	0.050	2698	2130	3613	0	0	0	0	0	0
2406	-0.49	-112.4	215.2	-6.9	310	2409	0.00	1.88	0.00	0.000	4	0.000	0.066	2692	3308	3613	0	0	0	0	0	0
2503	-0.51	-112.4	221.8	-7.1	319	2506	0.00	1.83	0.00	0.000	6	0.000	0.050	2691	2136	3612	0	0	0	0	0	0
2823	-0.51	-112.4	245.2	-8.0	350	2827	0.00	1.90	0.00	0.000	4	0.000	0.065	2692	3303	3612	0	0	0	0	0	0
2882	-0.53	-112.4	250.1	-7.9	355	2887	0.00	1.80	0.00	0.000	6	0.000	0.049	2691	2140	3612	0	0	0	0	0	0
3197	-0.53	-112.4	271.7	-6.8	386	3201	0.00	2.05	0.00	0.000	4	0.000	0.056	2692	845	3611	0	0	0	0	0	0
3239	-0.53	-112.4	274.4	-6.6	390	3243	0.00	2.05	0.00	0.000	6	0.000	0.055	2692	2138	3611	0	0	0	0	0	0
3561	-0.53	-112.4	298.7	-7.2	421	3564	0.00	1.90	0.00	0.000	4	0.000	0.065	2691	3311	3610	0	0	0	0	0	0
3640	-0.54	-112.4	305.9	-8.0	428	3646	0.00	1.83	0.00	0.000	6	0.000	0.051	2691	2154	3610	0	0	0	0	0	0
3955	-0.54	-112.4	333.4	-8.3	459	3959	0.00	2.08	0.00	0.000	4	0.000	0.058	2691	850	3610	0	0	0	0	0	0
3982	-0.54	-112.4	335.6	-8.3	461	3987	0.00	2.08	0.00	0.000	6	0.000	0.056	2691	2149	3610	0	0	0	0	0	0
4297	-0.54	-112.4	356.6	-5.7	492	4301	0.00	1.90	0.00	0.000	4	0.000	0.067	2691	3305	3609	0	0	0	0	0	0
4345	-0.56	-112.4	359.9	-6.5	496	4352	0.00	1.83	0.00	0.000	6	0.000	0.049	2691	2145	3609	0	0	0	0	0	0
4661	-0.56	-112.4	381.4	-7.5	527	4664	0.00	2.05	0.00	0.000	4	0.000	0.058	2691	851	3609	0	0	0	0	0	0
4698	-0.57	-112.4	384.5	-8.0	530	4703	0.00	2.08	0.00	0.000	6	0.000	0.058	2691	2142	3609	0	0	0	0	0	0
4721	end dive: TARGET_DEPTH_EXCEEDED
state	4721	begin apogee
4727	-0.14	0.0	386.7	8.1	533	4819	0.35	0.00	90.57	0.831	6	0.110	0.000	2807	1992	3150	0	0	0	0	0	0
4820	end apogee: CONTROL_FINISHED_OK
state	4820	begin climb
4823	0.45	112.4	390.6	0.0	542	4925	0.55	2.10	91.97	0.805	4	0.075	0.061	3012	771	2690	0	0	0	0	0	0
4984	0.47	167.0	388.7	4.1	557	5033	0.00	1.98	46.08	0.788	6	0.000	0.054	3011	2003	2469	0	0	0	0	0	0
5346	0.45	167.0	364.1	6.8	592	5349	0.00	1.98	0.00	0.000	4	0.000	0.064	3012	3229	2463	0	0	0	0	0	0
5404	0.44	167.0	359.2	8.0	597	5410	0.00	1.95	0.00	0.000	6	0.000	0.053	3014	2019	2462	0	0	0	0	0	0
5721	0.42	167.0	336.6	7.7	628	5722	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2019	2462	0	0	0	0	0	0
6032	0.41	167.0	313.2	7.3	658	6033	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2018	2461	0	0	0	0	0	0
6343	0.40	167.0	289.8	6.7	688	6346	0.00	1.92	0.00	0.000	4	0.000	0.064	3014	3228	2461	0	0	0	0	0	0
6473	0.38	167.0	279.0	9.1	700	6476	0.15	1.90	0.00	0.000	6	0.147	0.052	2979	2020	2460	0	0	0	0	0	0
6788	0.39	177.4	258.9	5.7	730	6798	0.00	0.00	8.85	0.685	6	0.000	0.000	2978	2018	2426	0	0	0	0	0	0
7108	0.40	177.4	240.2	7.1	761	7109	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2017	2425	0	0	0	0	0	0
7420	0.40	177.4	222.8	6.3	791	7423	0.00	1.95	0.00	0.000	4	0.000	0.064	2978	3229	2424	0	0	0	0	0	0
7473	0.40	177.4	219.0	7.2	796	7477	0.00	1.90	0.00	0.000	6	0.000	0.054	2978	2039	2424	0	0	0	0	0	0
7793	0.40	189.3	200.9	5.7	827	7808	0.00	2.03	11.32	0.679	4	0.000	0.061	2978	766	2377	0	0	0	0	0	0
7830	0.43	198.7	198.8	5.8	830	7844	0.00	2.03	9.40	0.649	6	0.000	0.055	2977	2046	2339	0	0	0	0	0	0
8161	0.47	249.8	182.1	4.2	862	8207	0.00	2.00	42.33	0.700	4	0.000	0.064	2978	3235	2130	0	0	0	0	0	0
8270	0.50	275.8	176.7	5.2	872	8296	0.08	1.90	22.23	0.673	6	0.063	0.053	3026	2068	2025	0	0	0	0	0	0
8613	0.50	275.8	148.8	8.5	905	8617	0.00	2.12	0.00	0.000	4	0.000	0.063	3032	770	2019	0	0	0	0	0	0
8683	0.50	275.8	143.0	8.5	911	8688	0.00	2.03	0.00	0.000	6	0.000	0.056	3032	2054	2019	0	0	0	0	0	0
8998	0.50	275.8	115.9	8.5	942	8998	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	2055	2018	0	0	0	0	0	0
9313	0.50	275.8	92.0	7.1	983	9318	0.00	2.08	0.00	0.000	4	0.000	0.062	3040	768	2017	0	0	0	0	0	0
9350	0.50	275.8	89.4	6.7	990	9356	0.00	2.00	0.00	0.000	6	0.000	0.056	3040	2026	2017	0	0	0	0	0	0
9677	0.50	275.8	64.7	7.2	1051	9682	0.00	1.95	0.00	0.000	4	0.000	0.063	3040	3236	2016	0	0	0	0	0	0
9704	0.50	275.8	62.7	7.1	1056	9710	0.00	1.95	0.00	0.000	6	0.000	0.053	3046	2013	2015	0	0	0	0	0	0
10031	0.50	275.8	39.3	8.0	1117	10037	0.00	2.00	0.00	0.000	4	0.000	0.063	3050	760	2015	0	0	0	0	0	0
10107	0.51	276.3	34.6	6.1	1131	10113	0.00	1.95	0.00	0.000	6	0.000	0.055	3050	1994	2015	0	0	0	0	0	0
10436	0.56	320.8	19.9	4.5	1192	10480	0.00	2.00	36.05	0.604	4	0.000	0.061	3050	767	1841	0	0	0	0	0	0
10588	0.61	351.5	13.1	5.0	1220	10622	0.00	2.03	25.95	0.585	6	0.000	0.055	3050	2033	1714	0	0	0	0	0	0
10791	end climb: SURFACE_DEPTH_REACHED
state	10791	begin surface coast
10863	end surface coast: CONTROL_FINISHED_OK
state	10863	begin surface