Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 631 * 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 631 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 28 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 26 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 -37278.793 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 -37278.793

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 28 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 115 R_STBD_OVSHOOT 26 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 631 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 145031,4757.410,-12524.794,39,1.3,40,18.8 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 1.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150326,4757.453,-12524.954,13,1.0,13,18.8 MHEAD_RNG_PITCHd_Wd 42.9,9110,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 342

Post-dive calculations and measurements:

FINISH 1.1,1.024245 _10V_AH 9.9,65.648

SM_CCo 9859,7.38,0.091,1,0,1724,350.04 FG_AHR_24Vo 0.000

SM_GC 3.26,0.00,0.00,7.38,0.000,0.000,0.091,139,2061,1724,-8.48,-0.40,350.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12527.41,040100,151534 MEM 298348

TT8_MAMPS 0.052923 DATA_FILE_SIZE 66528,1187

HUMID 42.47 CAP_FILE_SIZE 132518,0

INTERNAL_PRESSURE 9.04993 CFSIZE 260165632,215060480

TCM_TEMP 15.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.189,241.2,1

_24V_AH 23.9,66.904 GPS 101010,174936,4757.276,-12524.998,60,1.2,71,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 233 108.39 SBE_CT 812 24 466.09

Roll_motor 91 70 153.60 SBE_O2 920 19 418.10

VBD_pump_during_apogee 381 801 7300.43 WL_BBFL2VMT 1538 105 3861.25

VBD_pump_during_surface 7 91 16.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 147.08 nil 0 0 0.00

Iridium_during_connect 70 160 269.78 nil 0 0 0.00

Iridium_during_xfer 442 223 2358.22

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.46

TT8 0 19 0.00

LPSleep 6373 2 138.19

TT8_Active 460 19 90.33

TT8_Sampling 2900 39 1143.03

TT8_CF8 888 45 402.68

TT8_Kalman 0 0 0.00

Analog_circuits 1491 12 177.24

GPS_charging 0 0 0.00

Compass 2527 8 200.18

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.45 -112.4 0.0 0.0 0 118 0.00 0.00 -104.07 0.000 2 0.000 0.000 128 2101 2987 0 0 0 0 0 0

122 -0.45 -112.4 3.1 -2.4 18 150 10.52 2.08 -14.25 0.000 4 0.233 0.071 2703 834 3611 0 0 0 0 0 0

289 -0.45 -112.4 28.7 -12.2 49 296 0.00 1.98 0.00 0.000 6 0.000 0.054 2697 2071 3613 0 0 0 0 0 0

616 -0.45 -112.4 62.2 -10.5 110 622 0.00 2.03 0.00 0.000 4 0.000 0.062 2688 3313 3614 0 0 0 0 0 0

862 -0.45 -112.4 84.5 -8.9 156 868 0.00 1.95 0.00 0.000 6 0.000 0.048 2688 2070 3614 0 0 0 0 0 0

1184 -0.45 -112.4 115.1 -9.0 202 1187 0.00 1.92 0.00 0.000 4 0.000 0.056 2688 850 3614 0 0 0 0 0 0

1231 -0.45 -112.4 119.4 -8.6 206 1237 0.00 1.95 0.00 0.000 6 0.000 0.053 2681 2086 3614 0 0 0 0 0 0

1546 -0.45 -112.4 146.3 -8.8 237 1550 0.00 2.00 0.00 0.000 4 0.000 0.063 2672 3315 3614 0 0 0 0 0 0

1658 -0.45 -112.4 156.2 -9.2 247 1664 0.08 1.92 0.00 0.000 6 0.116 0.048 2701 2085 3613 0 0 0 0 0 0

1974 -0.45 -112.4 181.0 -8.0 278 1975 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2084 3613 0 0 0 0 0 0

2286 -0.45 -112.4 203.2 -7.3 308 2289 0.00 1.98 0.00 0.000 4 0.000 0.065 2701 3315 3612 0 0 0 0 0 0

2334 -0.47 -112.4 207.2 -7.8 312 2339 0.00 1.92 0.00 0.000 6 0.000 0.051 2701 2093 3611 0 0 0 0 0 0

2649 -0.47 -112.4 231.6 -6.9 343 2652 0.00 1.92 0.00 0.000 4 0.000 0.058 2701 845 3610 0 0 0 0 0 0

2682 -0.48 -112.4 233.6 -6.5 346 2685 0.00 1.95 0.00 0.000 6 0.000 0.054 2697 2090 3610 0 0 0 0 0 0

3002 -0.48 -112.4 258.2 -7.0 377 3005 0.00 2.00 0.00 0.000 4 0.000 0.065 2696 3308 3610 0 0 0 0 0 0

3164 -0.51 -112.4 268.0 -4.8 392 3167 0.00 1.88 0.00 0.000 6 0.000 0.050 2696 2105 3610 0 0 0 0 0 0

3484 -0.51 -112.4 288.6 -7.6 423 3488 0.00 2.00 0.00 0.000 4 0.000 0.058 2695 846 3609 0 0 0 0 0 0

3522 -0.51 -112.4 291.8 -8.2 426 3528 0.00 2.03 0.00 0.000 6 0.000 0.058 2696 2112 3609 0 0 0 0 0 0

3838 -0.51 -112.4 314.8 -7.2 457 3841 0.00 1.92 0.00 0.000 4 0.000 0.066 2695 3317 3608 0 0 0 0 0 0

3891 -0.53 -112.4 319.2 -8.0 462 3894 0.00 1.88 0.00 0.000 6 0.000 0.051 2695 2112 3608 0 0 0 0 0 0

4212 -0.53 -112.4 340.0 -6.4 493 4215 0.00 1.92 0.00 0.000 4 0.000 0.067 2695 3311 3608 0 0 0 0 0 0

4246 end dive: TARGET_DEPTH_EXCEEDED

state 4246 begin apogee

4254 -0.14 0.0 342.5 6.3 496 4349 0.32 0.00 90.03 0.802 6 0.107 0.000 2807 1995 3150 0 0 0 0 0 0

4349 end apogee: CONTROL_FINISHED_OK

state 4349 begin climb

4351 0.45 112.4 345.1 0.0 506 4451 0.52 2.08 91.40 0.776 4 0.074 0.061 3004 772 2691 0 0 0 0 0 0

4509 0.48 178.4 343.0 3.7 521 4570 0.00 2.00 55.28 0.762 6 0.000 0.054 3005 1997 2422 0 0 0 0 0 0

4881 0.49 192.7 319.6 5.6 557 4901 0.00 2.05 12.35 0.710 4 0.000 0.064 3004 3230 2363 0 0 0 0 0 0

5050 0.49 192.7 305.5 7.9 573 5054 0.00 1.95 0.00 0.000 6 0.000 0.052 3012 2013 2360 0 0 0 0 0 0

5372 0.49 195.9 284.3 6.0 604 5382 0.00 2.03 4.03 0.513 4 0.000 0.063 3020 764 2351 0 0 0 0 0 0

5435 0.49 202.7 280.5 5.9 610 5447 0.00 1.95 7.22 0.648 6 0.000 0.055 3020 2005 2323 0 0 0 0 0 0

5764 0.48 202.7 257.6 6.4 642 5768 0.00 1.98 0.00 0.000 4 0.000 0.063 3020 3228 2321 0 0 0 0 0 0

5818 0.46 202.7 253.5 7.6 647 5821 0.00 1.98 0.00 0.000 6 0.000 0.054 3027 1996 2320 0 0 0 0 0 0

6138 0.45 202.7 229.0 8.0 678 6139 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 1996 2320 0 0 0 0 0 0

6451 0.44 202.7 205.5 7.5 708 6454 0.00 2.03 0.00 0.000 4 0.000 0.064 3027 3240 2320 0 0 0 0 0 0

6471 0.43 202.7 203.8 7.4 710 6475 0.10 1.95 0.00 0.000 6 0.123 0.054 2999 2020 2319 0 0 0 0 0 0

6793 0.44 223.6 185.8 5.3 741 6816 0.00 2.03 18.33 0.690 4 0.000 0.062 3001 766 2238 0 0 0 0 0 0

6844 0.44 223.6 182.6 6.4 746 6848 0.00 1.98 0.00 0.000 6 0.000 0.055 3000 2008 2236 0 0 0 0 0 0

7165 0.44 233.0 163.9 5.8 777 7177 0.00 2.03 8.73 0.632 4 0.000 0.063 3001 3239 2200 0 0 0 0 0 0

7229 0.44 233.0 159.5 7.3 783 7233 0.00 1.95 0.00 0.000 6 0.000 0.053 3001 2021 2198 0 0 0 0 0 0

7551 0.45 237.4 139.1 5.9 814 7561 0.00 1.98 5.22 0.546 4 0.000 0.061 3001 766 2181 0 0 0 0 0 0

7587 0.47 249.5 136.9 5.7 817 7603 0.00 1.98 11.90 0.639 6 0.000 0.055 3001 2009 2132 0 0 0 0 0 0

7913 0.48 249.5 116.4 6.7 849 7916 0.00 2.00 0.00 0.000 4 0.000 0.064 3001 3230 2127 0 0 0 0 0 0

7928 0.48 249.5 115.4 6.4 850 7934 0.00 1.98 0.00 0.000 6 0.000 0.054 3001 1998 2127 0 0 0 0 0 0

8249 0.49 249.5 93.6 6.4 890 8254 0.00 2.00 0.00 0.000 4 0.000 0.064 3001 767 2126 0 0 0 0 0 0

8265 0.51 250.2 92.7 6.1 893 8271 0.00 1.95 0.00 0.000 6 0.000 0.056 3001 1993 2126 0 0 0 0 0 0

8593 0.53 267.4 76.5 5.5 954 8616 0.00 2.03 15.12 0.624 4 0.000 0.064 3001 3235 2059 0 0 0 0 0 0

8669 0.55 267.4 72.0 6.5 968 8675 0.00 1.95 0.00 0.000 6 0.000 0.053 3001 2016 2058 0 0 0 0 0 0

8996 0.61 323.9 54.1 4.0 1029 9051 0.15 2.05 46.75 0.622 4 0.084 0.063 3080 767 1828 0 0 0 0 0 0

9147 0.61 323.9 44.2 6.9 1057 9153 0.00 1.98 0.00 0.000 6 0.000 0.054 3079 1996 1825 0 0 0 0 0 0

9474 0.65 341.5 23.4 5.5 1118 9496 0.00 2.05 14.75 0.584 4 0.000 0.064 3079 3236 1756 0 0 0 0 0 0

9577 0.65 341.5 17.0 6.5 1137 9583 0.00 1.88 0.00 0.000 6 0.000 0.051 3080 2066 1754 0 0 0 0 0 0

9800 end climb: SURFACE_DEPTH_REACHED

state 9800 begin surface coast

9843 end surface coast: CONTROL_FINISHED_OK

state 9843 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	631	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	28	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	26	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	-37278.793	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	145031,4757.410,-12524.794,39,1.3,40,18.8	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	1.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150326,4757.453,-12524.954,13,1.0,13,18.8	MHEAD_RNG_PITCHd_Wd	42.9,9110,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	342

FINISH	1.1,1.024245	_10V_AH	9.9,65.648
SM_CCo	9859,7.38,0.091,1,0,1724,350.04	FG_AHR_24Vo	0.000
SM_GC	3.26,0.00,0.00,7.38,0.000,0.000,0.091,139,2061,1724,-8.48,-0.40,350.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12527.41,040100,151534	MEM	298348
TT8_MAMPS	0.052923	DATA_FILE_SIZE	66528,1187
HUMID	42.47	CAP_FILE_SIZE	132518,0
INTERNAL_PRESSURE	9.04993	CFSIZE	260165632,215060480
TCM_TEMP	15.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.189,241.2,1
_24V_AH	23.9,66.904	GPS	101010,174936,4757.276,-12524.998,60,1.2,71,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	233	108.39	SBE_CT	812	24	466.09
Roll_motor	91	70	153.60	SBE_O2	920	19	418.10
VBD_pump_during_apogee	381	801	7300.43	WL_BBFL2VMT	1538	105	3861.25
VBD_pump_during_surface	7	91	16.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	147.08	nil	0	0	0.00
Iridium_during_connect	70	160	269.78	nil	0	0	0.00
Iridium_during_xfer	442	223	2358.22
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.46
TT8	0	19	0.00
LPSleep	6373	2	138.19
TT8_Active	460	19	90.33
TT8_Sampling	2900	39	1143.03
TT8_CF8	888	45	402.68
TT8_Kalman	0	0	0.00
Analog_circuits	1491	12	177.24
GPS_charging	0	0	0.00
Compass	2527	8	200.18
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.45	-112.4	0.0	0.0	0	118	0.00	0.00	-104.07	0.000	2	0.000	0.000	128	2101	2987	0	0	0	0	0	0
122	-0.45	-112.4	3.1	-2.4	18	150	10.52	2.08	-14.25	0.000	4	0.233	0.071	2703	834	3611	0	0	0	0	0	0
289	-0.45	-112.4	28.7	-12.2	49	296	0.00	1.98	0.00	0.000	6	0.000	0.054	2697	2071	3613	0	0	0	0	0	0
616	-0.45	-112.4	62.2	-10.5	110	622	0.00	2.03	0.00	0.000	4	0.000	0.062	2688	3313	3614	0	0	0	0	0	0
862	-0.45	-112.4	84.5	-8.9	156	868	0.00	1.95	0.00	0.000	6	0.000	0.048	2688	2070	3614	0	0	0	0	0	0
1184	-0.45	-112.4	115.1	-9.0	202	1187	0.00	1.92	0.00	0.000	4	0.000	0.056	2688	850	3614	0	0	0	0	0	0
1231	-0.45	-112.4	119.4	-8.6	206	1237	0.00	1.95	0.00	0.000	6	0.000	0.053	2681	2086	3614	0	0	0	0	0	0
1546	-0.45	-112.4	146.3	-8.8	237	1550	0.00	2.00	0.00	0.000	4	0.000	0.063	2672	3315	3614	0	0	0	0	0	0
1658	-0.45	-112.4	156.2	-9.2	247	1664	0.08	1.92	0.00	0.000	6	0.116	0.048	2701	2085	3613	0	0	0	0	0	0
1974	-0.45	-112.4	181.0	-8.0	278	1975	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2084	3613	0	0	0	0	0	0
2286	-0.45	-112.4	203.2	-7.3	308	2289	0.00	1.98	0.00	0.000	4	0.000	0.065	2701	3315	3612	0	0	0	0	0	0
2334	-0.47	-112.4	207.2	-7.8	312	2339	0.00	1.92	0.00	0.000	6	0.000	0.051	2701	2093	3611	0	0	0	0	0	0
2649	-0.47	-112.4	231.6	-6.9	343	2652	0.00	1.92	0.00	0.000	4	0.000	0.058	2701	845	3610	0	0	0	0	0	0
2682	-0.48	-112.4	233.6	-6.5	346	2685	0.00	1.95	0.00	0.000	6	0.000	0.054	2697	2090	3610	0	0	0	0	0	0
3002	-0.48	-112.4	258.2	-7.0	377	3005	0.00	2.00	0.00	0.000	4	0.000	0.065	2696	3308	3610	0	0	0	0	0	0
3164	-0.51	-112.4	268.0	-4.8	392	3167	0.00	1.88	0.00	0.000	6	0.000	0.050	2696	2105	3610	0	0	0	0	0	0
3484	-0.51	-112.4	288.6	-7.6	423	3488	0.00	2.00	0.00	0.000	4	0.000	0.058	2695	846	3609	0	0	0	0	0	0
3522	-0.51	-112.4	291.8	-8.2	426	3528	0.00	2.03	0.00	0.000	6	0.000	0.058	2696	2112	3609	0	0	0	0	0	0
3838	-0.51	-112.4	314.8	-7.2	457	3841	0.00	1.92	0.00	0.000	4	0.000	0.066	2695	3317	3608	0	0	0	0	0	0
3891	-0.53	-112.4	319.2	-8.0	462	3894	0.00	1.88	0.00	0.000	6	0.000	0.051	2695	2112	3608	0	0	0	0	0	0
4212	-0.53	-112.4	340.0	-6.4	493	4215	0.00	1.92	0.00	0.000	4	0.000	0.067	2695	3311	3608	0	0	0	0	0	0
4246	end dive: TARGET_DEPTH_EXCEEDED
state	4246	begin apogee
4254	-0.14	0.0	342.5	6.3	496	4349	0.32	0.00	90.03	0.802	6	0.107	0.000	2807	1995	3150	0	0	0	0	0	0
4349	end apogee: CONTROL_FINISHED_OK
state	4349	begin climb
4351	0.45	112.4	345.1	0.0	506	4451	0.52	2.08	91.40	0.776	4	0.074	0.061	3004	772	2691	0	0	0	0	0	0
4509	0.48	178.4	343.0	3.7	521	4570	0.00	2.00	55.28	0.762	6	0.000	0.054	3005	1997	2422	0	0	0	0	0	0
4881	0.49	192.7	319.6	5.6	557	4901	0.00	2.05	12.35	0.710	4	0.000	0.064	3004	3230	2363	0	0	0	0	0	0
5050	0.49	192.7	305.5	7.9	573	5054	0.00	1.95	0.00	0.000	6	0.000	0.052	3012	2013	2360	0	0	0	0	0	0
5372	0.49	195.9	284.3	6.0	604	5382	0.00	2.03	4.03	0.513	4	0.000	0.063	3020	764	2351	0	0	0	0	0	0
5435	0.49	202.7	280.5	5.9	610	5447	0.00	1.95	7.22	0.648	6	0.000	0.055	3020	2005	2323	0	0	0	0	0	0
5764	0.48	202.7	257.6	6.4	642	5768	0.00	1.98	0.00	0.000	4	0.000	0.063	3020	3228	2321	0	0	0	0	0	0
5818	0.46	202.7	253.5	7.6	647	5821	0.00	1.98	0.00	0.000	6	0.000	0.054	3027	1996	2320	0	0	0	0	0	0
6138	0.45	202.7	229.0	8.0	678	6139	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	1996	2320	0	0	0	0	0	0
6451	0.44	202.7	205.5	7.5	708	6454	0.00	2.03	0.00	0.000	4	0.000	0.064	3027	3240	2320	0	0	0	0	0	0
6471	0.43	202.7	203.8	7.4	710	6475	0.10	1.95	0.00	0.000	6	0.123	0.054	2999	2020	2319	0	0	0	0	0	0
6793	0.44	223.6	185.8	5.3	741	6816	0.00	2.03	18.33	0.690	4	0.000	0.062	3001	766	2238	0	0	0	0	0	0
6844	0.44	223.6	182.6	6.4	746	6848	0.00	1.98	0.00	0.000	6	0.000	0.055	3000	2008	2236	0	0	0	0	0	0
7165	0.44	233.0	163.9	5.8	777	7177	0.00	2.03	8.73	0.632	4	0.000	0.063	3001	3239	2200	0	0	0	0	0	0
7229	0.44	233.0	159.5	7.3	783	7233	0.00	1.95	0.00	0.000	6	0.000	0.053	3001	2021	2198	0	0	0	0	0	0
7551	0.45	237.4	139.1	5.9	814	7561	0.00	1.98	5.22	0.546	4	0.000	0.061	3001	766	2181	0	0	0	0	0	0
7587	0.47	249.5	136.9	5.7	817	7603	0.00	1.98	11.90	0.639	6	0.000	0.055	3001	2009	2132	0	0	0	0	0	0
7913	0.48	249.5	116.4	6.7	849	7916	0.00	2.00	0.00	0.000	4	0.000	0.064	3001	3230	2127	0	0	0	0	0	0
7928	0.48	249.5	115.4	6.4	850	7934	0.00	1.98	0.00	0.000	6	0.000	0.054	3001	1998	2127	0	0	0	0	0	0
8249	0.49	249.5	93.6	6.4	890	8254	0.00	2.00	0.00	0.000	4	0.000	0.064	3001	767	2126	0	0	0	0	0	0
8265	0.51	250.2	92.7	6.1	893	8271	0.00	1.95	0.00	0.000	6	0.000	0.056	3001	1993	2126	0	0	0	0	0	0
8593	0.53	267.4	76.5	5.5	954	8616	0.00	2.03	15.12	0.624	4	0.000	0.064	3001	3235	2059	0	0	0	0	0	0
8669	0.55	267.4	72.0	6.5	968	8675	0.00	1.95	0.00	0.000	6	0.000	0.053	3001	2016	2058	0	0	0	0	0	0
8996	0.61	323.9	54.1	4.0	1029	9051	0.15	2.05	46.75	0.622	4	0.084	0.063	3080	767	1828	0	0	0	0	0	0
9147	0.61	323.9	44.2	6.9	1057	9153	0.00	1.98	0.00	0.000	6	0.000	0.054	3079	1996	1825	0	0	0	0	0	0
9474	0.65	341.5	23.4	5.5	1118	9496	0.00	2.05	14.75	0.584	4	0.000	0.064	3079	3236	1756	0	0	0	0	0	0
9577	0.65	341.5	17.0	6.5	1137	9583	0.00	1.88	0.00	0.000	6	0.000	0.051	3080	2066	1754	0	0	0	0	0	0
9800	end climb: SURFACE_DEPTH_REACHED
state	9800	begin surface coast
9843	end surface coast: CONTROL_FINISHED_OK
state	9843	begin surface