Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 645 * 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 645 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 25 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 31 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 -37650.008 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 -37650.008

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 31 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 645 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 094522,4802.255,-12521.110,12,3.8,32,18.8 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 2.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -78.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 095210,4802.278,-12521.145,12,2.2,31,18.8 MHEAD_RNG_PITCHd_Wd 150.4,1268,-15.2,-6.111

SPEED_LIMITS 0.106,0.196 D_GRID 358

Post-dive calculations and measurements:

FINISH 1.2,1.009392 _10V_AH 9.9,67.276

SM_CCo 10271,8.12,0.091,1,0,1723,350.04 FG_AHR_24Vo 0.000

SM_GC 4.07,0.00,0.00,8.12,0.000,0.000,0.091,136,2052,1723,-8.50,-0.62,350.04 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4745.30,-12524.03,060100,070735 MEM 298392

TT8_MAMPS 0.052156 DATA_FILE_SIZE 69617,1235

HUMID 42.20 CAP_FILE_SIZE 130574,0

INTERNAL_PRESSURE 9.04016 CFSIZE 260165632,214077440

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.149, 28.5,1

_24V_AH 23.8,68.345 GPS 121010,124557,4801.895,-12520.390,93,5.8,113,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 228 107.44 SBE_CT 846 24 483.79

Roll_motor 87 87 181.93 SBE_O2 957 19 433.16

VBD_pump_during_apogee 380 816 7392.50 WL_BBFL2VMT 1597 105 3992.98

VBD_pump_during_surface 8 91 17.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 67.51 nil 0 0 0.00

Iridium_during_connect 34 160 130.69 nil 0 0 0.00

Iridium_during_xfer 193 223 1025.36

Transponder_ping 0 420 2.50

GUMSTIX_24V 0 0 0.00

GPS 32 50 15.88

TT8 0 19 0.00

LPSleep 6649 2 144.17

TT8_Active 446 19 87.62

TT8_Sampling 3029 39 1193.67

TT8_CF8 544 45 246.84

TT8_Kalman 0 0 0.00

Analog_circuits 1489 12 176.92

GPS_charging 0 0 0.00

Compass 2598 8 205.79

RAFOS 0 0 0.00

Transponder 3 30 0.90

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

13 -0.48 -96.3 0.0 0.0 0 68 0.00 0.00 -53.65 0.000 2 0.000 0.000 132 2073 2973 0 0 0 0 0 0

71 -0.49 -112.4 3.1 -2.3 10 104 10.35 2.05 -14.80 0.000 4 0.229 0.077 2683 3304 3611 0 0 0 0 0 0

121 -0.38 -112.4 13.4 -19.4 19 126 0.12 1.98 0.00 0.000 6 0.120 0.050 2725 2072 3612 0 0 0 0 0 0

447 -0.40 -112.4 43.2 -7.8 80 453 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2070 3614 0 0 0 0 0 0

774 -0.43 -112.4 66.2 -5.1 141 780 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2069 3615 0 0 0 0 0 0

1101 -0.47 -112.4 87.0 -8.2 202 1107 0.00 1.95 0.00 0.000 4 0.000 0.057 2725 842 3615 0 0 0 0 0 0

1182 -0.49 -112.4 93.8 -8.2 217 1188 0.00 1.92 0.00 0.000 6 0.000 0.054 2725 2055 3614 0 0 0 0 0 0

1506 -0.52 -112.4 114.9 -5.9 256 1509 0.12 2.03 0.00 0.000 4 0.094 0.065 2658 3310 3616 0 0 0 0 0 0

1635 -0.52 -112.4 126.8 -9.9 267 1641 0.00 1.98 0.00 0.000 6 0.000 0.050 2658 2062 3615 0 0 0 0 0 0

1951 -0.52 -112.4 159.1 -9.7 298 1954 0.00 2.03 0.00 0.000 4 0.000 0.064 2649 3311 3615 0 0 0 0 0 0

1988 -0.52 -112.4 162.9 -9.6 301 1993 0.08 1.95 0.00 0.000 6 0.116 0.050 2687 2075 3615 0 0 0 0 0 0

2303 -0.53 -112.4 189.1 -8.3 332 2306 0.00 2.00 0.00 0.000 4 0.000 0.063 2680 3310 3614 0 0 0 0 0 0

2373 -0.55 -112.4 194.7 -7.9 338 2377 0.00 1.92 0.00 0.000 6 0.000 0.050 2680 2075 3614 0 0 0 0 0 0

2687 -0.55 -112.4 219.5 -7.7 369 2691 0.00 2.00 0.00 0.000 4 0.000 0.064 2673 3310 3614 0 0 0 0 0 0

2714 -0.55 -112.4 221.5 -7.6 371 2719 0.00 1.92 0.00 0.000 6 0.000 0.051 2672 2087 3614 0 0 0 0 0 0

3029 -0.55 -112.4 247.4 -7.9 402 3033 0.00 2.03 0.00 0.000 4 0.000 0.066 2665 3313 3613 0 0 0 0 0 0

3066 -0.55 -112.4 250.6 -8.2 405 3072 0.00 1.92 0.00 0.000 6 0.000 0.051 2665 2089 3613 0 0 0 0 0 0

3383 -0.55 -112.4 277.0 -8.2 436 3386 0.00 2.00 0.00 0.000 4 0.000 0.067 2664 3315 3613 0 0 0 0 0 0

3415 -0.55 -112.4 279.5 -7.8 439 3418 0.00 1.92 0.00 0.000 6 0.000 0.052 2663 2084 3613 0 0 0 0 0 0

3735 -0.55 -112.4 309.5 -8.4 470 3738 0.00 2.03 0.00 0.000 4 0.000 0.067 2663 3310 3612 0 0 0 0 0 0

3777 -0.56 -112.4 312.9 -7.3 474 3781 0.00 1.92 0.00 0.000 6 0.000 0.051 2663 2093 3612 0 0 0 0 0 0

4099 -0.56 -112.4 341.9 -8.6 505 4102 0.00 1.98 0.00 0.000 4 0.000 0.059 2663 835 3612 0 0 0 0 0 0

4140 -0.56 -112.4 345.9 -10.0 509 4144 0.00 2.00 0.00 0.000 6 0.000 0.057 2663 2087 3612 0 0 0 0 0 0

4273 end dive: TARGET_DEPTH_EXCEEDED

state 4273 begin apogee

4279 -0.14 0.0 358.7 7.5 522 4376 0.45 0.00 90.90 0.817 6 0.114 0.000 2810 1982 3150 0 0 0 0 0 0

4377 end apogee: CONTROL_FINISHED_OK

state 4377 begin climb

4379 0.49 112.4 361.2 0.0 532 4479 0.55 2.05 91.53 0.792 4 0.072 0.058 3017 772 2690 0 0 0 0 0 0

4574 0.47 115.8 357.1 6.0 550 4583 0.00 2.00 4.28 0.532 6 0.000 0.052 3017 2003 2677 0 0 0 0 0 0

4900 0.45 115.8 336.4 7.0 582 4904 0.00 2.03 0.00 0.000 4 0.000 0.063 3017 3231 2675 0 0 0 0 0 0

4986 0.42 115.8 329.9 7.7 590 4989 0.10 1.95 0.00 0.000 6 0.135 0.051 2993 2015 2674 0 0 0 0 0 0

5306 0.43 123.5 310.3 5.8 621 5318 0.00 0.00 7.57 0.679 6 0.000 0.000 2993 2015 2645 0 0 0 0 0 0

5628 0.44 136.7 292.8 5.5 652 5648 0.00 2.03 12.20 0.730 4 0.000 0.063 2993 3236 2591 0 0 0 0 0 0

5707 0.43 136.7 288.0 6.3 659 5711 0.00 1.92 0.00 0.000 6 0.000 0.051 2998 2002 2590 0 0 0 0 0 0

6022 0.43 145.9 269.3 5.7 690 6035 0.00 2.03 8.85 0.686 4 0.000 0.063 2998 3235 2555 0 0 0 0 0 0

6111 0.42 145.9 263.2 6.9 698 6117 0.00 1.92 0.00 0.000 6 0.000 0.051 3003 2027 2554 0 0 0 0 0 0

6427 0.42 145.9 239.5 8.0 729 6430 0.00 1.98 0.00 0.000 4 0.000 0.063 3004 3225 2554 0 0 0 0 0 0

6459 0.41 145.9 236.9 8.2 732 6462 0.00 1.92 0.00 0.000 6 0.000 0.051 3011 2015 2553 0 0 0 0 0 0

6781 0.41 145.9 211.7 7.6 763 6784 0.00 1.95 0.00 0.000 4 0.000 0.063 3010 3232 2553 0 0 0 0 0 0

6881 0.39 145.9 204.2 6.8 772 6887 0.10 1.92 0.00 0.000 6 0.128 0.052 2985 2029 2553 0 0 0 0 0 0

7197 0.40 168.1 186.8 5.2 803 7221 0.00 1.98 19.45 0.705 4 0.000 0.064 2984 3228 2463 0 0 0 0 0 0

7259 0.40 168.1 183.3 6.5 809 7263 0.00 1.92 0.00 0.000 6 0.000 0.053 2987 2031 2461 0 0 0 0 0 0

7580 0.43 208.6 166.9 4.4 840 7616 0.00 0.00 34.00 0.697 6 0.000 0.000 2987 2031 2299 0 0 0 0 0 0

7921 0.44 212.3 148.7 6.0 873 7926 0.00 0.00 3.95 0.477 6 0.000 0.000 2987 2031 2284 0 0 0 0 0 0

8231 0.45 212.3 129.4 6.5 903 8234 0.00 1.98 0.00 0.000 4 0.000 0.063 2987 3233 2283 0 0 0 0 0 0

8268 0.47 212.3 126.8 7.7 906 8274 0.00 1.90 0.00 0.000 6 0.000 0.053 2987 2049 2282 0 0 0 0 0 0

8584 0.49 223.3 108.0 5.6 937 8599 0.00 2.03 10.77 0.630 4 0.000 0.061 2987 760 2238 0 0 0 0 0 0

8642 0.51 223.3 104.4 7.4 942 8645 0.00 2.03 0.00 0.000 6 0.000 0.056 2987 2047 2237 0 0 0 0 0 0

8967 0.55 254.9 85.2 4.8 996 9001 0.12 1.95 26.42 0.644 4 0.094 0.064 3046 3233 2108 0 0 0 0 0 0

9052 0.54 254.9 78.5 9.1 1011 9057 0.00 1.90 0.00 0.000 6 0.000 0.053 3052 2056 2104 0 0 0 0 0 0

9379 0.54 254.9 49.6 8.4 1072 9384 0.00 2.10 0.00 0.000 4 0.000 0.062 3055 763 2103 0 0 0 0 0 0

9454 0.54 254.9 44.4 6.5 1086 9460 0.00 2.08 0.00 0.000 6 0.000 0.054 3054 2067 2102 0 0 0 0 0 0

9780 0.59 319.3 25.4 3.4 1147 9841 0.00 2.12 51.45 0.610 4 0.000 0.060 3054 767 1848 0 0 0 0 0 0

9876 0.63 341.0 21.2 5.2 1164 9899 0.00 2.08 18.88 0.578 6 0.000 0.055 3055 2053 1758 0 0 0 0 0 0

10180 end climb: SURFACE_DEPTH_REACHED

state 10180 begin surface coast

10255 end surface coast: CONTROL_FINISHED_OK

state 10255 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	645	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	25	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	31	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	-37650.008	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	094522,4802.255,-12521.110,12,3.8,32,18.8	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	2.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-78.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	095210,4802.278,-12521.145,12,2.2,31,18.8	MHEAD_RNG_PITCHd_Wd	150.4,1268,-15.2,-6.111
SPEED_LIMITS	0.106,0.196	D_GRID	358

FINISH	1.2,1.009392	_10V_AH	9.9,67.276
SM_CCo	10271,8.12,0.091,1,0,1723,350.04	FG_AHR_24Vo	0.000
SM_GC	4.07,0.00,0.00,8.12,0.000,0.000,0.091,136,2052,1723,-8.50,-0.62,350.04	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4745.30,-12524.03,060100,070735	MEM	298392
TT8_MAMPS	0.052156	DATA_FILE_SIZE	69617,1235
HUMID	42.20	CAP_FILE_SIZE	130574,0
INTERNAL_PRESSURE	9.04016	CFSIZE	260165632,214077440
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.149, 28.5,1
_24V_AH	23.8,68.345	GPS	121010,124557,4801.895,-12520.390,93,5.8,113,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	228	107.44	SBE_CT	846	24	483.79
Roll_motor	87	87	181.93	SBE_O2	957	19	433.16
VBD_pump_during_apogee	380	816	7392.50	WL_BBFL2VMT	1597	105	3992.98
VBD_pump_during_surface	8	91	17.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	67.51	nil	0	0	0.00
Iridium_during_connect	34	160	130.69	nil	0	0	0.00
Iridium_during_xfer	193	223	1025.36
Transponder_ping	0	420	2.50
GUMSTIX_24V	0	0	0.00
GPS	32	50	15.88
TT8	0	19	0.00
LPSleep	6649	2	144.17
TT8_Active	446	19	87.62
TT8_Sampling	3029	39	1193.67
TT8_CF8	544	45	246.84
TT8_Kalman	0	0	0.00
Analog_circuits	1489	12	176.92
GPS_charging	0	0	0.00
Compass	2598	8	205.79
RAFOS	0	0	0.00
Transponder	3	30	0.90

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
13	-0.48	-96.3	0.0	0.0	0	68	0.00	0.00	-53.65	0.000	2	0.000	0.000	132	2073	2973	0	0	0	0	0	0
71	-0.49	-112.4	3.1	-2.3	10	104	10.35	2.05	-14.80	0.000	4	0.229	0.077	2683	3304	3611	0	0	0	0	0	0
121	-0.38	-112.4	13.4	-19.4	19	126	0.12	1.98	0.00	0.000	6	0.120	0.050	2725	2072	3612	0	0	0	0	0	0
447	-0.40	-112.4	43.2	-7.8	80	453	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2070	3614	0	0	0	0	0	0
774	-0.43	-112.4	66.2	-5.1	141	780	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2069	3615	0	0	0	0	0	0
1101	-0.47	-112.4	87.0	-8.2	202	1107	0.00	1.95	0.00	0.000	4	0.000	0.057	2725	842	3615	0	0	0	0	0	0
1182	-0.49	-112.4	93.8	-8.2	217	1188	0.00	1.92	0.00	0.000	6	0.000	0.054	2725	2055	3614	0	0	0	0	0	0
1506	-0.52	-112.4	114.9	-5.9	256	1509	0.12	2.03	0.00	0.000	4	0.094	0.065	2658	3310	3616	0	0	0	0	0	0
1635	-0.52	-112.4	126.8	-9.9	267	1641	0.00	1.98	0.00	0.000	6	0.000	0.050	2658	2062	3615	0	0	0	0	0	0
1951	-0.52	-112.4	159.1	-9.7	298	1954	0.00	2.03	0.00	0.000	4	0.000	0.064	2649	3311	3615	0	0	0	0	0	0
1988	-0.52	-112.4	162.9	-9.6	301	1993	0.08	1.95	0.00	0.000	6	0.116	0.050	2687	2075	3615	0	0	0	0	0	0
2303	-0.53	-112.4	189.1	-8.3	332	2306	0.00	2.00	0.00	0.000	4	0.000	0.063	2680	3310	3614	0	0	0	0	0	0
2373	-0.55	-112.4	194.7	-7.9	338	2377	0.00	1.92	0.00	0.000	6	0.000	0.050	2680	2075	3614	0	0	0	0	0	0
2687	-0.55	-112.4	219.5	-7.7	369	2691	0.00	2.00	0.00	0.000	4	0.000	0.064	2673	3310	3614	0	0	0	0	0	0
2714	-0.55	-112.4	221.5	-7.6	371	2719	0.00	1.92	0.00	0.000	6	0.000	0.051	2672	2087	3614	0	0	0	0	0	0
3029	-0.55	-112.4	247.4	-7.9	402	3033	0.00	2.03	0.00	0.000	4	0.000	0.066	2665	3313	3613	0	0	0	0	0	0
3066	-0.55	-112.4	250.6	-8.2	405	3072	0.00	1.92	0.00	0.000	6	0.000	0.051	2665	2089	3613	0	0	0	0	0	0
3383	-0.55	-112.4	277.0	-8.2	436	3386	0.00	2.00	0.00	0.000	4	0.000	0.067	2664	3315	3613	0	0	0	0	0	0
3415	-0.55	-112.4	279.5	-7.8	439	3418	0.00	1.92	0.00	0.000	6	0.000	0.052	2663	2084	3613	0	0	0	0	0	0
3735	-0.55	-112.4	309.5	-8.4	470	3738	0.00	2.03	0.00	0.000	4	0.000	0.067	2663	3310	3612	0	0	0	0	0	0
3777	-0.56	-112.4	312.9	-7.3	474	3781	0.00	1.92	0.00	0.000	6	0.000	0.051	2663	2093	3612	0	0	0	0	0	0
4099	-0.56	-112.4	341.9	-8.6	505	4102	0.00	1.98	0.00	0.000	4	0.000	0.059	2663	835	3612	0	0	0	0	0	0
4140	-0.56	-112.4	345.9	-10.0	509	4144	0.00	2.00	0.00	0.000	6	0.000	0.057	2663	2087	3612	0	0	0	0	0	0
4273	end dive: TARGET_DEPTH_EXCEEDED
state	4273	begin apogee
4279	-0.14	0.0	358.7	7.5	522	4376	0.45	0.00	90.90	0.817	6	0.114	0.000	2810	1982	3150	0	0	0	0	0	0
4377	end apogee: CONTROL_FINISHED_OK
state	4377	begin climb
4379	0.49	112.4	361.2	0.0	532	4479	0.55	2.05	91.53	0.792	4	0.072	0.058	3017	772	2690	0	0	0	0	0	0
4574	0.47	115.8	357.1	6.0	550	4583	0.00	2.00	4.28	0.532	6	0.000	0.052	3017	2003	2677	0	0	0	0	0	0
4900	0.45	115.8	336.4	7.0	582	4904	0.00	2.03	0.00	0.000	4	0.000	0.063	3017	3231	2675	0	0	0	0	0	0
4986	0.42	115.8	329.9	7.7	590	4989	0.10	1.95	0.00	0.000	6	0.135	0.051	2993	2015	2674	0	0	0	0	0	0
5306	0.43	123.5	310.3	5.8	621	5318	0.00	0.00	7.57	0.679	6	0.000	0.000	2993	2015	2645	0	0	0	0	0	0
5628	0.44	136.7	292.8	5.5	652	5648	0.00	2.03	12.20	0.730	4	0.000	0.063	2993	3236	2591	0	0	0	0	0	0
5707	0.43	136.7	288.0	6.3	659	5711	0.00	1.92	0.00	0.000	6	0.000	0.051	2998	2002	2590	0	0	0	0	0	0
6022	0.43	145.9	269.3	5.7	690	6035	0.00	2.03	8.85	0.686	4	0.000	0.063	2998	3235	2555	0	0	0	0	0	0
6111	0.42	145.9	263.2	6.9	698	6117	0.00	1.92	0.00	0.000	6	0.000	0.051	3003	2027	2554	0	0	0	0	0	0
6427	0.42	145.9	239.5	8.0	729	6430	0.00	1.98	0.00	0.000	4	0.000	0.063	3004	3225	2554	0	0	0	0	0	0
6459	0.41	145.9	236.9	8.2	732	6462	0.00	1.92	0.00	0.000	6	0.000	0.051	3011	2015	2553	0	0	0	0	0	0
6781	0.41	145.9	211.7	7.6	763	6784	0.00	1.95	0.00	0.000	4	0.000	0.063	3010	3232	2553	0	0	0	0	0	0
6881	0.39	145.9	204.2	6.8	772	6887	0.10	1.92	0.00	0.000	6	0.128	0.052	2985	2029	2553	0	0	0	0	0	0
7197	0.40	168.1	186.8	5.2	803	7221	0.00	1.98	19.45	0.705	4	0.000	0.064	2984	3228	2463	0	0	0	0	0	0
7259	0.40	168.1	183.3	6.5	809	7263	0.00	1.92	0.00	0.000	6	0.000	0.053	2987	2031	2461	0	0	0	0	0	0
7580	0.43	208.6	166.9	4.4	840	7616	0.00	0.00	34.00	0.697	6	0.000	0.000	2987	2031	2299	0	0	0	0	0	0
7921	0.44	212.3	148.7	6.0	873	7926	0.00	0.00	3.95	0.477	6	0.000	0.000	2987	2031	2284	0	0	0	0	0	0
8231	0.45	212.3	129.4	6.5	903	8234	0.00	1.98	0.00	0.000	4	0.000	0.063	2987	3233	2283	0	0	0	0	0	0
8268	0.47	212.3	126.8	7.7	906	8274	0.00	1.90	0.00	0.000	6	0.000	0.053	2987	2049	2282	0	0	0	0	0	0
8584	0.49	223.3	108.0	5.6	937	8599	0.00	2.03	10.77	0.630	4	0.000	0.061	2987	760	2238	0	0	0	0	0	0
8642	0.51	223.3	104.4	7.4	942	8645	0.00	2.03	0.00	0.000	6	0.000	0.056	2987	2047	2237	0	0	0	0	0	0
8967	0.55	254.9	85.2	4.8	996	9001	0.12	1.95	26.42	0.644	4	0.094	0.064	3046	3233	2108	0	0	0	0	0	0
9052	0.54	254.9	78.5	9.1	1011	9057	0.00	1.90	0.00	0.000	6	0.000	0.053	3052	2056	2104	0	0	0	0	0	0
9379	0.54	254.9	49.6	8.4	1072	9384	0.00	2.10	0.00	0.000	4	0.000	0.062	3055	763	2103	0	0	0	0	0	0
9454	0.54	254.9	44.4	6.5	1086	9460	0.00	2.08	0.00	0.000	6	0.000	0.054	3054	2067	2102	0	0	0	0	0	0
9780	0.59	319.3	25.4	3.4	1147	9841	0.00	2.12	51.45	0.610	4	0.000	0.060	3054	767	1848	0	0	0	0	0	0
9876	0.63	341.0	21.2	5.2	1164	9899	0.00	2.08	18.88	0.578	6	0.000	0.055	3055	2053	1758	0	0	0	0	0	0
10180	end climb: SURFACE_DEPTH_REACHED
state	10180	begin surface coast
10255	end surface coast: CONTROL_FINISHED_OK
state	10255	begin surface