Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 633 * 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 633 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 29 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 34 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 -37333.641 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 -37333.641

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 29 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 115 R_STBD_OVSHOOT 34 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 633 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 205407,4757.267,-12524.988,84,1.7,85,18.8 TGT_NAME CANYON

_CALLS 1 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 -76.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210032,4757.250,-12524.896,15,1.5,15,18.8 MHEAD_RNG_PITCHd_Wd 57.1,9392,-13.9,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 386

Post-dive calculations and measurements:

FINISH 1.3,1.017555 _10V_AH 9.9,65.883

SM_CCo 10690,0.00,0.000,0,0,1679,360.59 FG_AHR_24Vo 0.000

SM_GC 2.36,7.75,0.00,0.00,0.042,0.000,0.000,131,2072,1679,-8.41,-0.08,360.59 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12522.93,040100,181831 MEM 298384

TT8_MAMPS 0.05369 DATA_FILE_SIZE 69801,1263

HUMID 41.37 CAP_FILE_SIZE 130047,0

INTERNAL_PRESSURE 9.0304 CFSIZE 260165632,214925312

TCM_TEMP 16.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.140,256.3,1

_24V_AH 23.6,67.113 GPS 111010,000106,4757.293,-12525.045,120,1.3,121,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 231 105.91 SBE_CT 865 24 490.50

Roll_motor 98 88 206.30 SBE_O2 988 19 443.39

VBD_pump_during_apogee 389 830 7638.54 WL_BBFL2VMT 1597 105 3958.84

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 30 103 75.30 nil 0 0 0.00

Iridium_during_connect 36 160 139.12 nil 0 0 0.00

Iridium_during_xfer 181 223 954.57

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.90

TT8 0 19 0.00

LPSleep 6998 2 151.73

TT8_Active 425 19 83.33

TT8_Sampling 3059 39 1205.43

TT8_CF8 564 45 256.16

TT8_Kalman 0 0 0.00

Analog_circuits 1494 12 177.50

GPS_charging 0 0 0.00

Compass 2659 8 210.64

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 63 0.00 0.00 -48.15 0.000 2 0.000 0.000 131 2087 2841 0 0 0 0 0 0

66 -0.45 -112.4 3.0 -2.2 9 100 10.43 2.05 -19.30 0.000 4 0.232 0.071 2698 835 3610 0 0 0 0 0 0

341 -0.45 -112.4 42.3 -10.8 60 348 0.00 1.95 0.00 0.000 6 0.000 0.054 2693 2061 3612 0 0 0 0 0 0

669 -0.45 -112.4 72.4 -8.1 121 675 0.00 2.05 0.00 0.000 4 0.000 0.063 2683 3315 3614 0 0 0 0 0 0

798 -0.45 -112.4 83.4 -8.8 145 803 0.00 1.92 0.00 0.000 6 0.000 0.048 2684 2087 3615 0 0 0 0 0 0

1119 -0.45 -112.4 113.6 -9.2 192 1123 0.00 2.00 0.00 0.000 4 0.000 0.063 2675 3308 3615 0 0 0 0 0 0

1182 -0.45 -112.4 119.2 -8.9 198 1186 0.08 1.90 0.00 0.000 6 0.115 0.049 2702 2098 3614 0 0 0 0 0 0

1504 -0.45 -112.4 144.5 -8.5 229 1507 0.00 1.95 0.00 0.000 4 0.000 0.056 2702 847 3615 0 0 0 0 0 0

1536 -0.47 -112.4 147.0 -8.0 232 1539 0.00 1.98 0.00 0.000 6 0.000 0.055 2703 2109 3614 0 0 0 0 0 0

1856 -0.47 -112.4 169.8 -6.5 263 1860 0.00 1.95 0.00 0.000 4 0.000 0.064 2703 3301 3614 0 0 0 0 0 0

1931 -0.49 -112.4 174.6 -6.4 270 1934 0.00 1.88 0.00 0.000 6 0.000 0.048 2703 2106 3614 0 0 0 0 0 0

2253 -0.50 -112.4 195.3 -6.4 301 2256 0.00 1.98 0.00 0.000 4 0.000 0.056 2702 842 3614 0 0 0 0 0 0

2294 -0.52 -112.4 198.1 -7.0 305 2298 0.00 2.00 0.00 0.000 6 0.000 0.056 2703 2101 3614 0 0 0 0 0 0

2615 -0.52 -112.4 217.0 -6.0 336 2619 0.00 1.98 0.00 0.000 4 0.000 0.066 2696 3306 3613 0 0 0 0 0 0

2652 -0.53 -112.4 219.4 -6.6 339 2658 0.00 1.90 0.00 0.000 6 0.000 0.051 2695 2101 3613 0 0 0 0 0 0

2968 -0.53 -112.4 240.9 -7.6 370 2971 0.00 1.98 0.00 0.000 4 0.000 0.058 2696 841 3613 0 0 0 0 0 0

3027 -0.55 -112.4 245.7 -8.3 375 3032 0.00 2.03 0.00 0.000 6 0.000 0.057 2695 2112 3613 0 0 0 0 0 0

3343 -0.55 -112.4 270.1 -8.0 406 3345 0.00 1.92 0.00 0.000 4 0.000 0.065 2692 3316 3612 0 0 0 0 0 0

3401 -0.57 -112.4 274.7 -7.4 411 3407 0.00 1.90 0.00 0.000 6 0.000 0.051 2692 2111 3612 0 0 0 0 0 0

3717 -0.57 -112.4 299.2 -7.7 442 3720 0.00 1.98 0.00 0.000 4 0.000 0.058 2692 842 3612 0 0 0 0 0 0

3754 -0.57 -112.4 302.0 -7.8 445 3759 0.00 2.00 0.00 0.000 6 0.000 0.057 2692 2111 3612 0 0 0 0 0 0

4068 -0.57 -112.4 327.1 -8.6 476 4072 0.00 1.98 0.00 0.000 4 0.000 0.066 2691 3310 3611 0 0 0 0 0 0

4112 -0.59 -112.4 330.5 -7.6 480 4115 0.00 1.90 0.00 0.000 6 0.000 0.051 2691 2111 3611 0 0 0 0 0 0

4433 -0.59 -112.4 357.6 -8.3 511 4436 0.00 2.00 0.00 0.000 4 0.000 0.059 2692 843 3611 0 0 0 0 0 0

4480 -0.60 -112.4 361.9 -8.7 515 4485 0.00 2.00 0.00 0.000 6 0.000 0.057 2691 2101 3610 0 0 0 0 0 0

4793 end dive: TARGET_DEPTH_EXCEEDED

state 4793 begin apogee

4798 -0.14 0.0 386.2 7.1 546 4891 0.35 0.00 90.85 0.831 6 0.110 0.000 2807 1997 3150 0 0 0 0 0 0

4892 end apogee: CONTROL_FINISHED_OK

state 4892 begin climb

4895 0.45 112.4 388.8 0.0 555 4993 0.55 2.15 92.20 0.805 4 0.077 0.062 3002 3234 2690 0 0 0 0 0 0

5003 0.49 205.0 388.7 2.7 566 5086 0.00 2.05 77.68 0.791 6 0.000 0.051 3011 2010 2314 0 0 0 0 0 0

5395 0.49 205.0 360.8 7.7 604 5398 0.00 2.03 0.00 0.000 4 0.000 0.062 3014 750 2307 0 0 0 0 0 0

5427 0.49 205.0 358.4 7.4 607 5430 0.00 1.98 0.00 0.000 6 0.000 0.055 3014 1976 2307 0 0 0 0 0 0

5747 0.48 205.0 332.6 8.0 638 5750 0.00 1.95 0.00 0.000 4 0.000 0.061 3022 767 2305 0 0 0 0 0 0

5881 0.48 205.0 322.1 7.2 650 5886 0.00 1.98 0.00 0.000 6 0.000 0.056 3022 2034 2305 0 0 0 0 0 0

6196 0.46 205.0 296.0 7.7 681 6199 0.00 2.05 0.00 0.000 4 0.000 0.063 3028 764 2304 0 0 0 0 0 0

6352 0.46 205.0 283.4 8.2 695 6357 0.00 2.05 0.00 0.000 6 0.000 0.056 3028 2067 2304 0 0 0 0 0 0

6667 0.45 205.0 257.6 7.1 726 6671 0.00 1.88 0.00 0.000 4 0.000 0.064 3028 3229 2304 0 0 0 0 0 0

6854 0.43 205.0 241.4 8.5 743 6859 0.10 1.83 0.00 0.000 6 0.128 0.051 3000 2078 2303 0 0 0 0 0 0

7170 0.43 208.3 221.6 6.0 774 7173 0.00 1.88 0.00 0.000 4 0.000 0.062 2999 3234 2303 0 0 0 0 0 0

7222 0.43 208.3 218.1 6.7 779 7226 0.00 1.83 0.00 0.000 6 0.000 0.052 3003 2087 2303 0 0 0 0 0 0

7544 0.43 208.3 193.6 8.5 810 7547 0.00 1.85 0.00 0.000 4 0.000 0.064 3003 3233 2303 0 0 0 0 0 0

7591 0.43 208.3 189.5 8.6 814 7596 0.00 1.80 0.00 0.000 6 0.000 0.052 3008 2099 2303 0 0 0 0 0 0

7906 0.43 208.3 165.6 7.2 845 7910 0.00 1.85 0.00 0.000 4 0.000 0.064 3008 3225 2303 0 0 0 0 0 0

7955 0.43 208.3 162.1 7.3 849 7960 0.00 1.75 0.00 0.000 6 0.000 0.053 3013 2123 2303 0 0 0 0 0 0

8271 0.43 208.3 137.8 8.3 880 8272 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2123 2303 0 0 0 0 0 0

8583 0.43 208.3 115.6 6.3 910 8586 0.00 2.17 0.00 0.000 4 0.000 0.063 3013 764 2303 0 0 0 0 0 0

8604 0.44 221.9 114.3 5.6 911 8621 0.00 2.15 13.73 0.641 6 0.000 0.055 3013 2115 2245 0 0 0 0 0 0

8932 0.44 221.9 94.1 6.6 951 8938 0.00 1.83 0.00 0.000 4 0.000 0.064 3013 3227 2242 0 0 0 0 0 0

9002 0.44 221.9 89.1 7.4 964 9009 0.00 1.77 0.00 0.000 6 0.000 0.053 3013 2109 2241 0 0 0 0 0 0

9329 0.44 221.9 69.7 6.2 1025 9334 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2108 2241 0 0 0 0 0 0

9655 0.48 291.3 51.7 3.6 1086 9716 0.00 1.90 56.30 0.624 4 0.000 0.064 3014 3235 1961 0 0 0 0 0 0

9745 0.51 305.3 47.3 5.6 1102 9762 0.00 1.83 12.65 0.575 6 0.000 0.052 3013 2111 1905 0 0 0 0 0 0

10085 0.58 335.9 30.4 5.0 1165 10115 0.00 2.22 25.38 0.597 4 0.000 0.061 3014 761 1779 0 0 0 0 0 0

10142 0.65 350.5 27.1 5.6 1175 10159 0.12 2.05 13.12 0.565 6 0.085 0.054 3065 2036 1720 0 0 0 0 0 0

10480 0.72 359.1 7.2 5.8 1238 10492 0.00 2.03 7.75 0.531 4 0.000 0.059 3066 759 1685 0 0 0 0 0 0

10555 end climb: SURFACE_DEPTH_REACHED

state 10555 begin surface coast

10613 end surface coast: CONTROL_FINISHED_OK

state 10613 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	633	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	29	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	34	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	-37333.641	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	205407,4757.267,-12524.988,84,1.7,85,18.8	TGT_NAME	CANYON
_CALLS	1	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	-76.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210032,4757.250,-12524.896,15,1.5,15,18.8	MHEAD_RNG_PITCHd_Wd	57.1,9392,-13.9,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	386

FINISH	1.3,1.017555	_10V_AH	9.9,65.883
SM_CCo	10690,0.00,0.000,0,0,1679,360.59	FG_AHR_24Vo	0.000
SM_GC	2.36,7.75,0.00,0.00,0.042,0.000,0.000,131,2072,1679,-8.41,-0.08,360.59	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12522.93,040100,181831	MEM	298384
TT8_MAMPS	0.05369	DATA_FILE_SIZE	69801,1263
HUMID	41.37	CAP_FILE_SIZE	130047,0
INTERNAL_PRESSURE	9.0304	CFSIZE	260165632,214925312
TCM_TEMP	16.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.140,256.3,1
_24V_AH	23.6,67.113	GPS	111010,000106,4757.293,-12525.045,120,1.3,121,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	231	105.91	SBE_CT	865	24	490.50
Roll_motor	98	88	206.30	SBE_O2	988	19	443.39
VBD_pump_during_apogee	389	830	7638.54	WL_BBFL2VMT	1597	105	3958.84
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	30	103	75.30	nil	0	0	0.00
Iridium_during_connect	36	160	139.12	nil	0	0	0.00
Iridium_during_xfer	181	223	954.57
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.90
TT8	0	19	0.00
LPSleep	6998	2	151.73
TT8_Active	425	19	83.33
TT8_Sampling	3059	39	1205.43
TT8_CF8	564	45	256.16
TT8_Kalman	0	0	0.00
Analog_circuits	1494	12	177.50
GPS_charging	0	0	0.00
Compass	2659	8	210.64
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	63	0.00	0.00	-48.15	0.000	2	0.000	0.000	131	2087	2841	0	0	0	0	0	0
66	-0.45	-112.4	3.0	-2.2	9	100	10.43	2.05	-19.30	0.000	4	0.232	0.071	2698	835	3610	0	0	0	0	0	0
341	-0.45	-112.4	42.3	-10.8	60	348	0.00	1.95	0.00	0.000	6	0.000	0.054	2693	2061	3612	0	0	0	0	0	0
669	-0.45	-112.4	72.4	-8.1	121	675	0.00	2.05	0.00	0.000	4	0.000	0.063	2683	3315	3614	0	0	0	0	0	0
798	-0.45	-112.4	83.4	-8.8	145	803	0.00	1.92	0.00	0.000	6	0.000	0.048	2684	2087	3615	0	0	0	0	0	0
1119	-0.45	-112.4	113.6	-9.2	192	1123	0.00	2.00	0.00	0.000	4	0.000	0.063	2675	3308	3615	0	0	0	0	0	0
1182	-0.45	-112.4	119.2	-8.9	198	1186	0.08	1.90	0.00	0.000	6	0.115	0.049	2702	2098	3614	0	0	0	0	0	0
1504	-0.45	-112.4	144.5	-8.5	229	1507	0.00	1.95	0.00	0.000	4	0.000	0.056	2702	847	3615	0	0	0	0	0	0
1536	-0.47	-112.4	147.0	-8.0	232	1539	0.00	1.98	0.00	0.000	6	0.000	0.055	2703	2109	3614	0	0	0	0	0	0
1856	-0.47	-112.4	169.8	-6.5	263	1860	0.00	1.95	0.00	0.000	4	0.000	0.064	2703	3301	3614	0	0	0	0	0	0
1931	-0.49	-112.4	174.6	-6.4	270	1934	0.00	1.88	0.00	0.000	6	0.000	0.048	2703	2106	3614	0	0	0	0	0	0
2253	-0.50	-112.4	195.3	-6.4	301	2256	0.00	1.98	0.00	0.000	4	0.000	0.056	2702	842	3614	0	0	0	0	0	0
2294	-0.52	-112.4	198.1	-7.0	305	2298	0.00	2.00	0.00	0.000	6	0.000	0.056	2703	2101	3614	0	0	0	0	0	0
2615	-0.52	-112.4	217.0	-6.0	336	2619	0.00	1.98	0.00	0.000	4	0.000	0.066	2696	3306	3613	0	0	0	0	0	0
2652	-0.53	-112.4	219.4	-6.6	339	2658	0.00	1.90	0.00	0.000	6	0.000	0.051	2695	2101	3613	0	0	0	0	0	0
2968	-0.53	-112.4	240.9	-7.6	370	2971	0.00	1.98	0.00	0.000	4	0.000	0.058	2696	841	3613	0	0	0	0	0	0
3027	-0.55	-112.4	245.7	-8.3	375	3032	0.00	2.03	0.00	0.000	6	0.000	0.057	2695	2112	3613	0	0	0	0	0	0
3343	-0.55	-112.4	270.1	-8.0	406	3345	0.00	1.92	0.00	0.000	4	0.000	0.065	2692	3316	3612	0	0	0	0	0	0
3401	-0.57	-112.4	274.7	-7.4	411	3407	0.00	1.90	0.00	0.000	6	0.000	0.051	2692	2111	3612	0	0	0	0	0	0
3717	-0.57	-112.4	299.2	-7.7	442	3720	0.00	1.98	0.00	0.000	4	0.000	0.058	2692	842	3612	0	0	0	0	0	0
3754	-0.57	-112.4	302.0	-7.8	445	3759	0.00	2.00	0.00	0.000	6	0.000	0.057	2692	2111	3612	0	0	0	0	0	0
4068	-0.57	-112.4	327.1	-8.6	476	4072	0.00	1.98	0.00	0.000	4	0.000	0.066	2691	3310	3611	0	0	0	0	0	0
4112	-0.59	-112.4	330.5	-7.6	480	4115	0.00	1.90	0.00	0.000	6	0.000	0.051	2691	2111	3611	0	0	0	0	0	0
4433	-0.59	-112.4	357.6	-8.3	511	4436	0.00	2.00	0.00	0.000	4	0.000	0.059	2692	843	3611	0	0	0	0	0	0
4480	-0.60	-112.4	361.9	-8.7	515	4485	0.00	2.00	0.00	0.000	6	0.000	0.057	2691	2101	3610	0	0	0	0	0	0
4793	end dive: TARGET_DEPTH_EXCEEDED
state	4793	begin apogee
4798	-0.14	0.0	386.2	7.1	546	4891	0.35	0.00	90.85	0.831	6	0.110	0.000	2807	1997	3150	0	0	0	0	0	0
4892	end apogee: CONTROL_FINISHED_OK
state	4892	begin climb
4895	0.45	112.4	388.8	0.0	555	4993	0.55	2.15	92.20	0.805	4	0.077	0.062	3002	3234	2690	0	0	0	0	0	0
5003	0.49	205.0	388.7	2.7	566	5086	0.00	2.05	77.68	0.791	6	0.000	0.051	3011	2010	2314	0	0	0	0	0	0
5395	0.49	205.0	360.8	7.7	604	5398	0.00	2.03	0.00	0.000	4	0.000	0.062	3014	750	2307	0	0	0	0	0	0
5427	0.49	205.0	358.4	7.4	607	5430	0.00	1.98	0.00	0.000	6	0.000	0.055	3014	1976	2307	0	0	0	0	0	0
5747	0.48	205.0	332.6	8.0	638	5750	0.00	1.95	0.00	0.000	4	0.000	0.061	3022	767	2305	0	0	0	0	0	0
5881	0.48	205.0	322.1	7.2	650	5886	0.00	1.98	0.00	0.000	6	0.000	0.056	3022	2034	2305	0	0	0	0	0	0
6196	0.46	205.0	296.0	7.7	681	6199	0.00	2.05	0.00	0.000	4	0.000	0.063	3028	764	2304	0	0	0	0	0	0
6352	0.46	205.0	283.4	8.2	695	6357	0.00	2.05	0.00	0.000	6	0.000	0.056	3028	2067	2304	0	0	0	0	0	0
6667	0.45	205.0	257.6	7.1	726	6671	0.00	1.88	0.00	0.000	4	0.000	0.064	3028	3229	2304	0	0	0	0	0	0
6854	0.43	205.0	241.4	8.5	743	6859	0.10	1.83	0.00	0.000	6	0.128	0.051	3000	2078	2303	0	0	0	0	0	0
7170	0.43	208.3	221.6	6.0	774	7173	0.00	1.88	0.00	0.000	4	0.000	0.062	2999	3234	2303	0	0	0	0	0	0
7222	0.43	208.3	218.1	6.7	779	7226	0.00	1.83	0.00	0.000	6	0.000	0.052	3003	2087	2303	0	0	0	0	0	0
7544	0.43	208.3	193.6	8.5	810	7547	0.00	1.85	0.00	0.000	4	0.000	0.064	3003	3233	2303	0	0	0	0	0	0
7591	0.43	208.3	189.5	8.6	814	7596	0.00	1.80	0.00	0.000	6	0.000	0.052	3008	2099	2303	0	0	0	0	0	0
7906	0.43	208.3	165.6	7.2	845	7910	0.00	1.85	0.00	0.000	4	0.000	0.064	3008	3225	2303	0	0	0	0	0	0
7955	0.43	208.3	162.1	7.3	849	7960	0.00	1.75	0.00	0.000	6	0.000	0.053	3013	2123	2303	0	0	0	0	0	0
8271	0.43	208.3	137.8	8.3	880	8272	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2123	2303	0	0	0	0	0	0
8583	0.43	208.3	115.6	6.3	910	8586	0.00	2.17	0.00	0.000	4	0.000	0.063	3013	764	2303	0	0	0	0	0	0
8604	0.44	221.9	114.3	5.6	911	8621	0.00	2.15	13.73	0.641	6	0.000	0.055	3013	2115	2245	0	0	0	0	0	0
8932	0.44	221.9	94.1	6.6	951	8938	0.00	1.83	0.00	0.000	4	0.000	0.064	3013	3227	2242	0	0	0	0	0	0
9002	0.44	221.9	89.1	7.4	964	9009	0.00	1.77	0.00	0.000	6	0.000	0.053	3013	2109	2241	0	0	0	0	0	0
9329	0.44	221.9	69.7	6.2	1025	9334	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2108	2241	0	0	0	0	0	0
9655	0.48	291.3	51.7	3.6	1086	9716	0.00	1.90	56.30	0.624	4	0.000	0.064	3014	3235	1961	0	0	0	0	0	0
9745	0.51	305.3	47.3	5.6	1102	9762	0.00	1.83	12.65	0.575	6	0.000	0.052	3013	2111	1905	0	0	0	0	0	0
10085	0.58	335.9	30.4	5.0	1165	10115	0.00	2.22	25.38	0.597	4	0.000	0.061	3014	761	1779	0	0	0	0	0	0
10142	0.65	350.5	27.1	5.6	1175	10159	0.12	2.05	13.12	0.565	6	0.085	0.054	3065	2036	1720	0	0	0	0	0	0
10480	0.72	359.1	7.2	5.8	1238	10492	0.00	2.03	7.75	0.531	4	0.000	0.059	3066	759	1685	0	0	0	0	0	0
10555	end climb: SURFACE_DEPTH_REACHED
state	10555	begin surface coast
10613	end surface coast: CONTROL_FINISHED_OK
state	10613	begin surface