Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 33 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 33 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 310 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 17 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 13 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 260 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -792.27533 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 310

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE 32 T_GPS_CHARGE -792.27533

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 260 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 17 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 13 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 33 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 360

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 140912,011629,6703.382,-5650.343,12,0.8,12,-33.5 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140912,012245,6703.403,-5650.402,4,2.0,4,-33.5 MHEAD_RNG_PITCHd_Wd 268.3,161765,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 528

Post-dive calculations and measurements:

FINISH 1.1,1.024969 _10V_AH 13.3,0.000

SM_CCo 9713,21.00,0.177,0,0,1505,310.06 FG_AHR_24Vo 0.000

SM_GC 2.02,8.38,0.17,21.00,0.090,0.158,0.177,139,2124,1505,-11.62,0.65,310.06,0,0,0,0,0,0,14.71,14.71,14.66 FG_AHR_10Vo 0.000

RAFOS_CLK 382 MEM 188804

RAFOS_FIX 6649.043457,-5714.099609,140912,000048,4,80,3.97 DATA_FILE_SIZE 43401,958

IRIDIUM_FIX 6636.54,-5655.33,130912,222210 CAP_FILE_SIZE 102751,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 259252224,248266752

HUMID 47.16 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.79163 SOUNDSPEED 1465.0

TCM_TEMP 14.00 CURRENT 0.045,227.6,1

XPDR_PINGS 9 GPS 140912,040722,6702.522,-5653.184,40,1.0,40,-33.5

_24V_AH 13.0,14.559

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 455 131.36 SBE_CT 698 23 217.74

Roll_motor 93 184 222.90 SBE_O2 654 3 31.84

VBD_pump_during_apogee 342 2220 9892.42 nil 0 0 0.00

VBD_pump_during_surface 21 176 48.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 225 144 424.56 nil 0 0 0.00

Transponder_ping 2 420 12.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 21 1.75

TT8 2430 14 483.65

LPSleep 4888 2 150.19

TT8_Active 499 14 99.39

TT8_Sampling 1801 33 807.05

TT8_CF8 497 38 252.47

TT8_Kalman 0 0 0.00

Analog_circuits 1628 12 259.95

GPS_charging 0 0 0.00

Compass 1607 6 144.13

RAFOS 360 1 7.18

Transponder 0 5 0.04

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 pitch_volts roll_volts vbd_volts

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

18 -1.50 -136.9 0.0 0.0 0 85 0.00 0.00 -64.78 0.000 2 0.000 0.000 124 2111 2757 0 0 0 0 0 0 28.83 28.83 28.83

92 -1.50 -136.9 3.4 -4.4 11 124 10.95 2.60 -14.18 0.000 4 0.455 0.161 2351 702 3327 0 0 0 0 0 0 14.43 14.53 14.77

360 -1.50 -136.9 53.1 -14.6 61 367 0.00 2.65 0.00 0.000 6 0.000 0.148 2343 2121 3328 0 0 0 0 0 0 28.83 14.60 28.83

677 -1.50 -136.9 94.8 -13.0 122 684 0.00 2.58 0.00 0.000 4 0.000 0.140 2343 711 3329 0 0 0 0 0 0 28.83 14.66 28.83

887 -1.50 -136.9 123.4 -13.8 145 896 0.00 2.58 0.00 0.000 6 0.000 0.145 2333 2115 3329 0 0 0 0 0 0 28.83 14.66 28.83

1197 -1.50 -136.9 163.4 -13.6 176 1206 0.00 2.65 0.00 0.000 4 0.000 0.155 2322 3536 3329 0 0 0 0 0 0 28.83 14.69 28.83

1242 -1.50 -136.9 169.6 -13.6 180 1251 0.10 2.47 0.00 0.000 6 0.285 0.102 2349 2123 3329 0 0 0 0 0 0 14.65 14.73 28.83

1552 -1.50 -136.9 206.9 -11.7 211 1561 0.00 2.65 0.00 0.000 4 0.000 0.158 2340 3528 3329 0 0 0 0 0 0 28.83 14.72 28.83

1589 -1.50 -136.9 210.9 -11.5 214 1596 0.00 2.50 0.00 0.000 6 0.000 0.103 2340 2109 3329 0 0 0 0 0 0 28.83 14.77 28.83

1897 -1.50 -136.9 246.9 -11.1 245 1903 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2110 3328 0 0 0 0 0 0 28.83 28.83 28.83

2211 -1.50 -136.9 281.9 -10.7 276 2220 0.00 2.50 0.00 0.000 4 0.000 0.138 2339 716 3328 0 0 0 0 0 0 28.83 14.76 28.83

2259 -1.50 -136.9 287.4 -11.1 280 2266 0.10 2.58 0.00 0.000 6 0.321 0.142 2349 2124 3328 0 0 0 0 0 0 14.72 14.77 28.83

2567 -1.50 -136.9 318.2 -9.5 311 2576 0.00 2.60 0.00 0.000 4 0.000 0.155 2340 3528 3328 0 0 0 0 0 0 28.83 14.76 28.83

2622 -1.50 -136.9 323.8 -10.3 316 2631 0.00 2.45 0.00 0.000 6 0.000 0.101 2340 2120 3328 0 0 0 0 0 0 28.83 14.81 28.83

2932 -1.50 -136.9 356.1 -10.4 347 2941 0.00 2.53 0.00 0.000 4 0.000 0.136 2340 703 3328 0 0 0 0 0 0 28.83 14.77 28.83

2979 -1.50 -136.9 361.1 -11.3 351 2986 0.00 2.58 0.00 0.000 6 0.000 0.138 2332 2121 3327 0 0 0 0 0 0 28.83 14.78 28.83

3287 -1.50 -136.9 395.3 -11.3 382 3293 0.00 0.00 0.00 0.000 6 0.000 0.000 2332 2121 3328 0 0 0 0 0 0 28.83 28.83 28.83

3607 -1.50 -136.9 430.7 -11.1 396 3609 0.10 0.00 0.00 0.000 6 0.333 0.000 2351 2121 3328 0 0 0 0 0 0 14.76 28.83 28.83

3907 -1.50 -136.9 461.6 -10.2 406 3913 0.00 2.60 0.00 0.000 4 0.000 0.158 2341 3530 3328 0 0 0 0 0 0 28.83 14.82 28.83

3938 -1.50 -136.9 465.0 -10.4 407 3944 0.00 2.47 0.00 0.000 6 0.000 0.107 2342 2113 3328 0 0 0 0 0 0 28.83 14.85 28.83

4270 -1.50 -136.9 498.3 -9.8 418 4271 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2112 3328 0 0 0 0 0 0 28.83 28.83 28.83

4564 end dive: TARGET_DEPTH_EXCEEDED

state 4564 begin apogee

4576 -0.38 0.0 529.3 -10.8 428 4717 0.88 0.00 133.05 2.221 6 0.257 0.000 2589 2207 2773 0 0 0 0 0 0 14.81 28.83 13.19

4722 end apogee: CONTROL_FINISHED_OK

state 4722 begin climb

4728 1.50 136.9 534.6 0.0 433 4885 1.38 2.85 142.93 2.193 4 0.163 0.144 3013 781 2214 0 0 0 0 0 0 13.92 13.68 13.05

4961 1.50 136.9 515.3 10.8 441 4966 0.00 2.72 0.00 0.000 6 0.000 0.134 3013 2203 2208 0 0 0 0 0 0 28.83 14.04 28.83

5292 1.50 136.9 474.7 12.9 452 5298 0.00 2.70 0.00 0.000 4 0.000 0.152 3013 3609 2205 0 0 0 0 0 0 28.83 14.38 28.83

5362 1.50 136.9 466.0 13.5 454 5367 0.00 2.55 0.00 0.000 6 0.000 0.106 3024 2200 2205 0 0 0 0 0 0 28.83 14.45 28.83

5684 1.50 136.9 422.8 13.1 465 5685 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2200 2203 0 0 0 0 0 0 28.83 28.83 28.83

5984 1.50 136.9 383.9 12.9 483 5993 0.00 2.55 0.00 0.000 4 0.000 0.140 3034 791 2203 0 0 0 0 0 0 28.83 14.62 28.83

6031 1.50 136.9 377.9 13.4 487 6039 0.12 2.58 0.00 0.000 6 0.298 0.129 3008 2204 2202 0 0 0 0 0 0 14.58 14.64 28.83

6340 1.50 136.9 338.9 12.8 518 6349 0.00 2.60 0.00 0.000 4 0.000 0.147 3008 3609 2202 0 0 0 0 0 0 28.83 14.66 28.83

6367 1.50 136.9 335.7 12.9 520 6374 0.00 2.53 0.00 0.000 6 0.000 0.103 3017 2189 2202 0 0 0 0 0 0 28.83 14.71 28.83

6676 1.50 136.9 295.2 12.5 551 6682 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2189 2202 0 0 0 0 0 0 28.83 28.83 28.83

6990 1.50 136.9 257.1 12.1 582 7000 0.00 2.50 0.00 0.000 4 0.000 0.137 3028 790 2201 0 0 0 0 0 0 28.83 14.72 28.83

7039 1.50 136.9 250.9 12.0 586 7047 0.10 2.55 0.00 0.000 6 0.309 0.129 3009 2204 2201 0 0 0 0 0 0 14.69 14.74 28.83

7348 1.50 136.9 213.9 11.8 617 7357 0.00 2.60 0.00 0.000 4 0.000 0.147 3008 3616 2201 0 0 0 0 0 0 28.83 14.73 28.83

7456 1.50 136.9 200.8 12.5 627 7463 0.00 2.50 0.00 0.000 6 0.000 0.103 3018 2198 2202 0 0 0 0 0 0 28.83 14.78 28.83

7764 1.50 136.9 166.6 10.4 658 7774 0.00 2.53 0.00 0.000 4 0.000 0.136 3028 794 2200 0 0 0 0 0 0 28.83 14.76 28.83

7792 1.50 136.9 163.7 10.4 660 7800 0.10 2.53 0.00 0.000 6 0.310 0.127 3009 2203 2200 0 0 0 0 0 0 14.71 14.78 28.83

8101 1.50 136.9 130.7 9.9 691 8107 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2202 2200 0 0 0 0 0 0 28.83 28.83 28.83

8416 1.50 136.9 101.7 9.5 722 8426 0.00 2.53 0.00 0.000 4 0.000 0.136 3017 797 2200 0 0 0 0 0 0 28.83 14.78 28.83

8466 1.50 136.9 96.2 10.0 729 8473 0.00 2.53 0.00 0.000 6 0.000 0.129 3017 2204 2200 0 0 0 0 0 0 28.83 14.80 28.83

8783 1.51 144.6 66.4 8.6 790 8792 0.00 2.67 2.42 0.437 4 0.000 0.149 3017 3612 2183 0 0 0 0 0 0 28.83 14.78 14.67

8819 1.51 147.4 63.3 8.8 795 8826 0.00 2.50 1.98 0.460 6 0.000 0.105 3028 2194 2169 0 0 0 0 0 0 28.83 14.81 14.66

9137 1.54 170.3 33.6 7.9 856 9156 0.00 0.00 12.30 0.287 6 0.000 0.000 3028 2194 2074 0 0 0 0 0 0 28.83 28.83 14.69

9467 1.66 265.8 16.1 4.8 919 9526 0.00 2.60 49.97 0.221 4 0.000 0.140 3037 792 1685 0 0 0 0 0 0 28.83 14.68 14.66

9587 1.66 265.8 8.1 9.3 940 9594 0.00 2.55 0.00 0.000 6 0.000 0.131 3038 2198 1677 0 0 0 0 0 0 28.83 14.69 28.83

9644 end climb: SURFACE_DEPTH_REACHED

state 9645 begin surface coast

9681 end surface coast: CONTROL_FINISHED_OK

state 9685 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	33	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	310	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	17	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	13	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	260	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-792.27533	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	140912,011629,6703.382,-5650.343,12,0.8,12,-33.5	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140912,012245,6703.403,-5650.402,4,2.0,4,-33.5	MHEAD_RNG_PITCHd_Wd	268.3,161765,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	528

FINISH	1.1,1.024969	_10V_AH	13.3,0.000
SM_CCo	9713,21.00,0.177,0,0,1505,310.06	FG_AHR_24Vo	0.000
SM_GC	2.02,8.38,0.17,21.00,0.090,0.158,0.177,139,2124,1505,-11.62,0.65,310.06,0,0,0,0,0,0,14.71,14.71,14.66	FG_AHR_10Vo	0.000
RAFOS_CLK	382	MEM	188804
RAFOS_FIX	6649.043457,-5714.099609,140912,000048,4,80,3.97	DATA_FILE_SIZE	43401,958
IRIDIUM_FIX	6636.54,-5655.33,130912,222210	CAP_FILE_SIZE	102751,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	259252224,248266752
HUMID	47.16	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.79163	SOUNDSPEED	1465.0
TCM_TEMP	14.00	CURRENT	0.045,227.6,1
XPDR_PINGS	9	GPS	140912,040722,6702.522,-5653.184,40,1.0,40,-33.5
_24V_AH	13.0,14.559

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	455	131.36	SBE_CT	698	23	217.74
Roll_motor	93	184	222.90	SBE_O2	654	3	31.84
VBD_pump_during_apogee	342	2220	9892.42	nil	0	0	0.00
VBD_pump_during_surface	21	176	48.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	225	144	424.56	nil	0	0	0.00
Transponder_ping	2	420	12.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	21	1.75
TT8	2430	14	483.65
LPSleep	4888	2	150.19
TT8_Active	499	14	99.39
TT8_Sampling	1801	33	807.05
TT8_CF8	497	38	252.47
TT8_Kalman	0	0	0.00
Analog_circuits	1628	12	259.95
GPS_charging	0	0	0.00
Compass	1607	6	144.13
RAFOS	360	1	7.18
Transponder	0	5	0.04

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	pitch_volts	roll_volts	vbd_volts
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
18	-1.50	-136.9	0.0	0.0	0	85	0.00	0.00	-64.78	0.000	2	0.000	0.000	124	2111	2757	0	0	0	0	0	0	28.83	28.83	28.83
92	-1.50	-136.9	3.4	-4.4	11	124	10.95	2.60	-14.18	0.000	4	0.455	0.161	2351	702	3327	0	0	0	0	0	0	14.43	14.53	14.77
360	-1.50	-136.9	53.1	-14.6	61	367	0.00	2.65	0.00	0.000	6	0.000	0.148	2343	2121	3328	0	0	0	0	0	0	28.83	14.60	28.83
677	-1.50	-136.9	94.8	-13.0	122	684	0.00	2.58	0.00	0.000	4	0.000	0.140	2343	711	3329	0	0	0	0	0	0	28.83	14.66	28.83
887	-1.50	-136.9	123.4	-13.8	145	896	0.00	2.58	0.00	0.000	6	0.000	0.145	2333	2115	3329	0	0	0	0	0	0	28.83	14.66	28.83
1197	-1.50	-136.9	163.4	-13.6	176	1206	0.00	2.65	0.00	0.000	4	0.000	0.155	2322	3536	3329	0	0	0	0	0	0	28.83	14.69	28.83
1242	-1.50	-136.9	169.6	-13.6	180	1251	0.10	2.47	0.00	0.000	6	0.285	0.102	2349	2123	3329	0	0	0	0	0	0	14.65	14.73	28.83
1552	-1.50	-136.9	206.9	-11.7	211	1561	0.00	2.65	0.00	0.000	4	0.000	0.158	2340	3528	3329	0	0	0	0	0	0	28.83	14.72	28.83
1589	-1.50	-136.9	210.9	-11.5	214	1596	0.00	2.50	0.00	0.000	6	0.000	0.103	2340	2109	3329	0	0	0	0	0	0	28.83	14.77	28.83
1897	-1.50	-136.9	246.9	-11.1	245	1903	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2110	3328	0	0	0	0	0	0	28.83	28.83	28.83
2211	-1.50	-136.9	281.9	-10.7	276	2220	0.00	2.50	0.00	0.000	4	0.000	0.138	2339	716	3328	0	0	0	0	0	0	28.83	14.76	28.83
2259	-1.50	-136.9	287.4	-11.1	280	2266	0.10	2.58	0.00	0.000	6	0.321	0.142	2349	2124	3328	0	0	0	0	0	0	14.72	14.77	28.83
2567	-1.50	-136.9	318.2	-9.5	311	2576	0.00	2.60	0.00	0.000	4	0.000	0.155	2340	3528	3328	0	0	0	0	0	0	28.83	14.76	28.83
2622	-1.50	-136.9	323.8	-10.3	316	2631	0.00	2.45	0.00	0.000	6	0.000	0.101	2340	2120	3328	0	0	0	0	0	0	28.83	14.81	28.83
2932	-1.50	-136.9	356.1	-10.4	347	2941	0.00	2.53	0.00	0.000	4	0.000	0.136	2340	703	3328	0	0	0	0	0	0	28.83	14.77	28.83
2979	-1.50	-136.9	361.1	-11.3	351	2986	0.00	2.58	0.00	0.000	6	0.000	0.138	2332	2121	3327	0	0	0	0	0	0	28.83	14.78	28.83
3287	-1.50	-136.9	395.3	-11.3	382	3293	0.00	0.00	0.00	0.000	6	0.000	0.000	2332	2121	3328	0	0	0	0	0	0	28.83	28.83	28.83
3607	-1.50	-136.9	430.7	-11.1	396	3609	0.10	0.00	0.00	0.000	6	0.333	0.000	2351	2121	3328	0	0	0	0	0	0	14.76	28.83	28.83
3907	-1.50	-136.9	461.6	-10.2	406	3913	0.00	2.60	0.00	0.000	4	0.000	0.158	2341	3530	3328	0	0	0	0	0	0	28.83	14.82	28.83
3938	-1.50	-136.9	465.0	-10.4	407	3944	0.00	2.47	0.00	0.000	6	0.000	0.107	2342	2113	3328	0	0	0	0	0	0	28.83	14.85	28.83
4270	-1.50	-136.9	498.3	-9.8	418	4271	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2112	3328	0	0	0	0	0	0	28.83	28.83	28.83
4564	end dive: TARGET_DEPTH_EXCEEDED
state	4564	begin apogee
4576	-0.38	0.0	529.3	-10.8	428	4717	0.88	0.00	133.05	2.221	6	0.257	0.000	2589	2207	2773	0	0	0	0	0	0	14.81	28.83	13.19
4722	end apogee: CONTROL_FINISHED_OK
state	4722	begin climb
4728	1.50	136.9	534.6	0.0	433	4885	1.38	2.85	142.93	2.193	4	0.163	0.144	3013	781	2214	0	0	0	0	0	0	13.92	13.68	13.05
4961	1.50	136.9	515.3	10.8	441	4966	0.00	2.72	0.00	0.000	6	0.000	0.134	3013	2203	2208	0	0	0	0	0	0	28.83	14.04	28.83
5292	1.50	136.9	474.7	12.9	452	5298	0.00	2.70	0.00	0.000	4	0.000	0.152	3013	3609	2205	0	0	0	0	0	0	28.83	14.38	28.83
5362	1.50	136.9	466.0	13.5	454	5367	0.00	2.55	0.00	0.000	6	0.000	0.106	3024	2200	2205	0	0	0	0	0	0	28.83	14.45	28.83
5684	1.50	136.9	422.8	13.1	465	5685	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2200	2203	0	0	0	0	0	0	28.83	28.83	28.83
5984	1.50	136.9	383.9	12.9	483	5993	0.00	2.55	0.00	0.000	4	0.000	0.140	3034	791	2203	0	0	0	0	0	0	28.83	14.62	28.83
6031	1.50	136.9	377.9	13.4	487	6039	0.12	2.58	0.00	0.000	6	0.298	0.129	3008	2204	2202	0	0	0	0	0	0	14.58	14.64	28.83
6340	1.50	136.9	338.9	12.8	518	6349	0.00	2.60	0.00	0.000	4	0.000	0.147	3008	3609	2202	0	0	0	0	0	0	28.83	14.66	28.83
6367	1.50	136.9	335.7	12.9	520	6374	0.00	2.53	0.00	0.000	6	0.000	0.103	3017	2189	2202	0	0	0	0	0	0	28.83	14.71	28.83
6676	1.50	136.9	295.2	12.5	551	6682	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2189	2202	0	0	0	0	0	0	28.83	28.83	28.83
6990	1.50	136.9	257.1	12.1	582	7000	0.00	2.50	0.00	0.000	4	0.000	0.137	3028	790	2201	0	0	0	0	0	0	28.83	14.72	28.83
7039	1.50	136.9	250.9	12.0	586	7047	0.10	2.55	0.00	0.000	6	0.309	0.129	3009	2204	2201	0	0	0	0	0	0	14.69	14.74	28.83
7348	1.50	136.9	213.9	11.8	617	7357	0.00	2.60	0.00	0.000	4	0.000	0.147	3008	3616	2201	0	0	0	0	0	0	28.83	14.73	28.83
7456	1.50	136.9	200.8	12.5	627	7463	0.00	2.50	0.00	0.000	6	0.000	0.103	3018	2198	2202	0	0	0	0	0	0	28.83	14.78	28.83
7764	1.50	136.9	166.6	10.4	658	7774	0.00	2.53	0.00	0.000	4	0.000	0.136	3028	794	2200	0	0	0	0	0	0	28.83	14.76	28.83
7792	1.50	136.9	163.7	10.4	660	7800	0.10	2.53	0.00	0.000	6	0.310	0.127	3009	2203	2200	0	0	0	0	0	0	14.71	14.78	28.83
8101	1.50	136.9	130.7	9.9	691	8107	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2202	2200	0	0	0	0	0	0	28.83	28.83	28.83
8416	1.50	136.9	101.7	9.5	722	8426	0.00	2.53	0.00	0.000	4	0.000	0.136	3017	797	2200	0	0	0	0	0	0	28.83	14.78	28.83
8466	1.50	136.9	96.2	10.0	729	8473	0.00	2.53	0.00	0.000	6	0.000	0.129	3017	2204	2200	0	0	0	0	0	0	28.83	14.80	28.83
8783	1.51	144.6	66.4	8.6	790	8792	0.00	2.67	2.42	0.437	4	0.000	0.149	3017	3612	2183	0	0	0	0	0	0	28.83	14.78	14.67
8819	1.51	147.4	63.3	8.8	795	8826	0.00	2.50	1.98	0.460	6	0.000	0.105	3028	2194	2169	0	0	0	0	0	0	28.83	14.81	14.66
9137	1.54	170.3	33.6	7.9	856	9156	0.00	0.00	12.30	0.287	6	0.000	0.000	3028	2194	2074	0	0	0	0	0	0	28.83	28.83	14.69
9467	1.66	265.8	16.1	4.8	919	9526	0.00	2.60	49.97	0.221	4	0.000	0.140	3037	792	1685	0	0	0	0	0	0	28.83	14.68	14.66
9587	1.66	265.8	8.1	9.3	940	9594	0.00	2.55	0.00	0.000	6	0.000	0.131	3038	2198	1677	0	0	0	0	0	0	28.83	14.69	28.83
9644	end climb: SURFACE_DEPTH_REACHED
state	9645	begin surface coast
9681	end surface coast: CONTROL_FINISHED_OK
state	9685	begin surface