Glider dive log

Monterey Jul07 * SG112 * Dive index * Mission links * Dive 31 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 31 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 750 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2720 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 2 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 250 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 290 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -21944.25 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 0

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 75 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043712994

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064806995

RHO 1.0275 C_PITCH 2235 PRESSURE_YINT -3.6470764 SEABIRD_T_I 2.9318924e-05

MASS 51814 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 3.4945006e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.125542

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1422628

KALMAN_USE 2 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00066794927

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014236888

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 750 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.6470764 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 0 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 250

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.0275 T_GPS_CHARGE -21944.25

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 290

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2235 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2720 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 75

C_ROLL_DIVE 2300 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51814 R_PORT_OVSHOOT 28 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 17 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.125542 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1422628 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.00066794927 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00014236888 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712994 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064806995 VBD_MIN 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.9318924e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 31 PHONE_DEVICE 48 SEABIRD_T_J 3.4945006e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 211451,3630.975,-12211.812,8,1.7,8,14.7 TGT_NAME RESCUE

_CALLS 1 TGT_LATLONG 3645.000,-12202.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.128,0.261

_SM_DEPTHo 1.62 KALMAN_X 10230.5,-4251.8,942.3,-15459.8,-901.5

_SM_ANGLEo -46.1 KALMAN_Y -28436.5,-116.8,-166.7,125.3,-1889.4

GPS2 212139,3630.876,-12211.808,10,1.9,10,14.7 MHEAD_RNG_PITCHd_Wd 14.4,29934,-18.2,-10.000

SPEED_LIMITS 0.173,0.244 D_GRID 1510

Post-dive calculations and measurements:

FINISH 1.4,1.006374 XPDR_PINGS 1

SM_CCo 12769,0.00,0.000,0,0,1722,431.73 ALTIM_TOP_PING 19.9,18.6

SM_GC 2.77,7.93,0.00,0.00,0.061,0.000,0.000,943,2289,1722,-5.85,0.62,431.73 _24V_AH 20.2,23.236

RAFOS_CLK 711 _10V_AH 9.9,8.443

RAFOS 3,1185136445,20.583334,20.568056,48,46,45,0,0,0,522,845,932,0,0,0 DATA_FILE_SIZE 44168,1256

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,254615552

IRIDIUM_FIX 3618.89,-12211.41,230707,010103 ERRORS 0,0,0,0,0,0,0,0,1,0,1,0,0,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1487.3

HUMID 2290 CURRENT 0.106,242.9,1

INTERNAL_PRESSURE 10.85 GPS 230707,005637,3631.980,-12211.637,57,1.3,57,14.7

TCM_TEMP 12.80

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 238 105.52 SBE_CT 870 24 422.14

Roll_motor 143 145 422.13 SBE_O2 1017 19 390.64

VBD_pump_during_apogee 414 1209 10128.13 nil 0 0 0.00

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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 2 420 21.21

GPS 11 50 5.78

TT8 2532 19 499.51

LPSleep 8138 2 186.12

TT8_Active 658 19 129.93

TT8_Sampling 1267 39 501.05

TT8_CF8 255 45 116.28

TT8_Kalman 0 81 0.00

Analog_circuits 1658 12 197.09

GPS_charging 0 0 0.00

Compass 1210 20 239.65

RAFOS 1800 1 26.73

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

25 -1.08 -194.6 0.0 0.0 0 103 0.00 0.00 -75.80 0.000 2 0.000 0.000 667 2416 2549

107 -1.08 -194.6 3.0 -4.5 12 158 11.10 3.17 -28.45 0.000 4 0.239 0.073 1992 903 3539

243 -1.08 -194.6 22.5 -18.1 35 249 0.00 2.72 0.00 0.000 6 0.000 0.038 1992 2307 3596

587 -1.08 -194.6 85.6 -17.0 96 594 0.00 2.83 0.00 0.000 4 0.000 0.058 1992 906 3516

696 -1.08 -194.6 102.5 -14.8 115 703 0.00 2.70 0.00 0.000 6 0.000 0.041 1992 2301 3548

1041 -1.08 -194.6 150.8 -14.3 176 1047 0.00 2.83 0.00 0.000 4 0.000 0.062 1992 901 3598

1104 -1.08 -194.6 160.6 -14.9 187 1111 0.00 2.72 0.00 0.000 6 0.000 0.046 1992 2298 3598

1448 -1.08 -194.6 215.5 -16.3 240 1450 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2298 3598

1767 -1.08 -194.6 263.9 -13.8 270 1768 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2298 3598

2086 -1.08 -194.6 305.8 -12.7 300 2091 0.00 3.45 0.00 0.000 4 0.000 0.146 1992 3706 3597

2126 -1.08 -194.6 311.0 -12.9 303 2131 0.00 2.78 0.00 0.000 6 0.000 0.054 1992 2320 3597

2454 -1.08 -194.6 349.9 -11.2 333 2459 0.00 3.20 0.00 0.000 4 0.000 0.117 1992 3708 3595

2509 -1.08 -194.6 356.4 -10.7 337 2515 0.00 2.88 0.00 0.000 6 0.000 0.061 1992 2293 3595

2836 -1.08 -194.6 393.2 -12.2 368 2841 0.00 3.30 0.00 0.000 4 0.000 0.120 1991 3709 3594

2865 -1.08 -194.6 397.0 -12.9 370 2870 0.00 2.88 0.00 0.000 6 0.000 0.064 1992 2298 3594

3190 -1.08 -194.6 439.5 -13.1 400 3195 0.00 3.28 0.00 0.000 4 0.000 0.120 1992 3709 3592

3233 -1.08 -194.6 445.3 -12.8 403 3240 0.00 2.88 0.00 0.000 6 0.000 0.064 1992 2302 3593

3559 -1.08 -194.6 484.5 -11.7 434 3564 0.00 3.25 0.00 0.000 4 0.000 0.119 1992 3705 3592

3602 -1.08 -194.6 490.1 -12.2 437 3609 0.00 2.90 0.00 0.000 6 0.000 0.065 1992 2293 3592

3921 -1.08 -194.6 531.2 -13.4 457 3926 0.00 3.25 0.00 0.000 4 0.000 0.117 1992 3705 3590

3983 -1.08 -194.6 539.9 -13.8 460 3988 0.00 2.88 0.00 0.000 6 0.000 0.061 1992 2293 3590

4310 -1.08 -194.6 584.8 -13.6 476 4315 0.00 3.28 0.00 0.000 4 0.000 0.118 1991 3707 3589

4359 -1.08 -194.6 591.9 -13.9 478 4364 0.00 2.85 0.00 0.000 6 0.000 0.059 1992 2297 3589

4675 -1.08 -194.6 636.7 -14.1 493 4680 0.00 3.25 0.00 0.000 4 0.000 0.116 1992 3708 3588

4715 -1.08 -194.6 642.5 -14.2 495 4720 0.00 2.85 0.00 0.000 6 0.000 0.058 1991 2298 3588

5041 -1.08 -194.6 685.1 -12.6 511 5046 0.00 3.25 0.00 0.000 4 0.000 0.116 1992 3710 3587

5085 -1.08 -194.6 690.8 -12.3 513 5090 0.00 2.85 0.00 0.000 6 0.000 0.058 1992 2298 3587

5407 -1.08 -194.6 728.3 -11.2 529 5412 0.00 3.22 0.00 0.000 4 0.000 0.114 1992 3706 3585

5446 -1.08 -194.6 732.7 -11.0 531 5451 0.00 2.85 0.00 0.000 6 0.000 0.058 1992 2295 3585

5606 end dive: TARGET_DEPTH_EXCEEDED

state 5606 begin apogee

5614 -0.21 0.0 750.1 10.8 539 5796 1.12 0.00 177.85 1.210 6 0.119 0.000 2183 2723 2800

5797 end apogee: CONTROL_FINISHED_OK

state 5797 begin climb

5800 1.08 194.6 756.6 0.0 548 5993 1.52 2.83 180.68 1.155 4 0.067 0.132 2470 3784 2005

6077 1.08 194.6 733.1 15.0 560 6084 0.00 2.25 0.00 0.000 6 0.000 0.047 2470 2713 2005

6393 1.08 194.6 692.2 12.6 576 6398 0.00 3.15 0.00 0.000 4 0.000 0.100 2470 1309 2004

6455 1.08 194.6 684.1 13.0 579 6460 0.00 3.05 0.00 0.000 6 0.000 0.079 2470 2720 2003

6782 1.08 194.6 645.2 12.2 595 6786 0.00 2.62 0.00 0.000 4 0.000 0.141 2470 3786 2003

6837 1.08 194.6 637.7 14.1 597 6843 0.00 2.17 0.00 0.000 6 0.000 0.050 2470 2716 2002

7153 1.08 194.6 598.0 12.7 613 7154 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2716 2001

7462 1.08 194.6 559.3 12.2 628 7463 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2716 2001

7771 1.08 194.6 524.2 11.5 643 7776 0.00 2.47 0.00 0.000 4 0.000 0.114 2470 3790 2001

7894 1.08 194.6 509.2 12.4 648 7901 0.00 2.12 0.00 0.000 6 0.000 0.049 2470 2719 2000

8217 1.08 194.6 473.0 11.1 675 8218 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2719 2000

8536 1.08 194.6 436.6 12.0 705 8540 0.00 2.47 0.00 0.000 4 0.000 0.116 2470 3791 2000

8590 1.08 194.6 429.3 13.1 709 8597 0.00 2.12 0.00 0.000 6 0.000 0.048 2470 2715 2000

8918 1.08 194.6 391.5 11.3 740 8919 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2715 1999

9234 1.08 194.6 353.8 11.6 770 9238 0.00 2.45 0.00 0.000 4 0.000 0.112 2470 3787 1999

9273 1.08 194.6 349.1 12.0 773 9277 0.00 2.10 0.00 0.000 6 0.000 0.045 2470 2716 1999

9601 1.08 194.6 312.2 11.3 803 9605 0.00 3.03 0.00 0.000 4 0.000 0.094 2470 1308 1999

9633 1.08 194.6 308.0 11.9 805 9640 0.00 2.90 0.00 0.000 6 0.000 0.067 2470 2723 1999

9960 1.08 194.6 273.7 10.9 836 9965 0.00 2.50 0.00 0.000 4 0.000 0.131 2470 3786 1999

10049 1.08 194.6 263.1 11.7 843 10056 0.00 2.05 0.00 0.000 6 0.000 0.039 2470 2711 2000

10375 1.13 223.6 231.5 9.0 874 10400 0.00 0.00 23.35 0.923 6 0.000 0.000 2470 2711 1888

10717 1.13 223.6 195.2 11.0 909 10722 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2711 1887

11061 1.13 223.6 156.5 11.3 970 11068 0.00 2.92 0.00 0.000 4 0.000 0.083 2470 1318 1887

11108 1.13 223.6 151.2 11.5 978 11115 0.00 2.85 0.00 0.000 6 0.000 0.061 2470 2724 1887

11453 1.13 223.6 115.0 10.0 1039 11460 0.00 2.88 0.00 0.000 4 0.000 0.066 2470 1316 1887

11506 1.15 233.8 109.9 9.6 1048 11520 0.00 2.88 8.38 0.855 6 0.000 0.061 2470 2728 1846

11858 1.18 253.1 77.3 9.3 1110 11883 0.12 2.92 16.00 0.806 4 0.063 0.066 2498 1311 1767

12019 1.20 263.4 60.3 9.6 1138 12032 0.00 2.85 8.27 0.802 6 0.000 0.055 2498 2726 1725

12371 1.26 300.5 27.8 8.7 1200 12377 0.00 2.90 0.00 0.000 4 0.000 0.064 2498 1312 1013

12631 1.31 329.3 6.2 9.0 1246 12638 0.10 2.83 0.00 0.000 6 0.061 0.051 2520 2724 1040

12670 end climb: SURFACE_DEPTH_REACHED

state 12671 begin surface coast

12688 end surface coast: CONTROL_FINISHED_OK

state 12688 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	31	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	750	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2720	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	2	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	250	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	290	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-21944.25	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	0
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	75	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043712994
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064806995
RHO	1.0275	C_PITCH	2235	PRESSURE_YINT	-3.6470764	SEABIRD_T_I	2.9318924e-05
MASS	51814	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	3.4945006e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.125542
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1422628
KALMAN_USE	2	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00066794927
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014236888

GPS1	211451,3630.975,-12211.812,8,1.7,8,14.7	TGT_NAME	RESCUE
_CALLS	1	TGT_LATLONG	3645.000,-12202.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.128,0.261
_SM_DEPTHo	1.62	KALMAN_X	10230.5,-4251.8,942.3,-15459.8,-901.5
_SM_ANGLEo	-46.1	KALMAN_Y	-28436.5,-116.8,-166.7,125.3,-1889.4
GPS2	212139,3630.876,-12211.808,10,1.9,10,14.7	MHEAD_RNG_PITCHd_Wd	14.4,29934,-18.2,-10.000
SPEED_LIMITS	0.173,0.244	D_GRID	1510

FINISH	1.4,1.006374	XPDR_PINGS	1
SM_CCo	12769,0.00,0.000,0,0,1722,431.73	ALTIM_TOP_PING	19.9,18.6
SM_GC	2.77,7.93,0.00,0.00,0.061,0.000,0.000,943,2289,1722,-5.85,0.62,431.73	_24V_AH	20.2,23.236
RAFOS_CLK	711	_10V_AH	9.9,8.443
RAFOS	3,1185136445,20.583334,20.568056,48,46,45,0,0,0,522,845,932,0,0,0	DATA_FILE_SIZE	44168,1256
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,254615552
IRIDIUM_FIX	3618.89,-12211.41,230707,010103	ERRORS	0,0,0,0,0,0,0,0,1,0,1,0,0,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1487.3
HUMID	2290	CURRENT	0.106,242.9,1
INTERNAL_PRESSURE	10.85	GPS	230707,005637,3631.980,-12211.637,57,1.3,57,14.7
TCM_TEMP	12.80

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	238	105.52	SBE_CT	870	24	422.14
Roll_motor	143	145	422.13	SBE_O2	1017	19	390.64
VBD_pump_during_apogee	414	1209	10128.13	nil	0	0	0.00
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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	2	420	21.21
GPS	11	50	5.78
TT8	2532	19	499.51
LPSleep	8138	2	186.12
TT8_Active	658	19	129.93
TT8_Sampling	1267	39	501.05
TT8_CF8	255	45	116.28
TT8_Kalman	0	81	0.00
Analog_circuits	1658	12	197.09
GPS_charging	0	0	0.00
Compass	1210	20	239.65
RAFOS	1800	1	26.73

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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
25	-1.08	-194.6	0.0	0.0	0	103	0.00	0.00	-75.80	0.000	2	0.000	0.000	667	2416	2549
107	-1.08	-194.6	3.0	-4.5	12	158	11.10	3.17	-28.45	0.000	4	0.239	0.073	1992	903	3539
243	-1.08	-194.6	22.5	-18.1	35	249	0.00	2.72	0.00	0.000	6	0.000	0.038	1992	2307	3596
587	-1.08	-194.6	85.6	-17.0	96	594	0.00	2.83	0.00	0.000	4	0.000	0.058	1992	906	3516
696	-1.08	-194.6	102.5	-14.8	115	703	0.00	2.70	0.00	0.000	6	0.000	0.041	1992	2301	3548
1041	-1.08	-194.6	150.8	-14.3	176	1047	0.00	2.83	0.00	0.000	4	0.000	0.062	1992	901	3598
1104	-1.08	-194.6	160.6	-14.9	187	1111	0.00	2.72	0.00	0.000	6	0.000	0.046	1992	2298	3598
1448	-1.08	-194.6	215.5	-16.3	240	1450	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2298	3598
1767	-1.08	-194.6	263.9	-13.8	270	1768	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2298	3598
2086	-1.08	-194.6	305.8	-12.7	300	2091	0.00	3.45	0.00	0.000	4	0.000	0.146	1992	3706	3597
2126	-1.08	-194.6	311.0	-12.9	303	2131	0.00	2.78	0.00	0.000	6	0.000	0.054	1992	2320	3597
2454	-1.08	-194.6	349.9	-11.2	333	2459	0.00	3.20	0.00	0.000	4	0.000	0.117	1992	3708	3595
2509	-1.08	-194.6	356.4	-10.7	337	2515	0.00	2.88	0.00	0.000	6	0.000	0.061	1992	2293	3595
2836	-1.08	-194.6	393.2	-12.2	368	2841	0.00	3.30	0.00	0.000	4	0.000	0.120	1991	3709	3594
2865	-1.08	-194.6	397.0	-12.9	370	2870	0.00	2.88	0.00	0.000	6	0.000	0.064	1992	2298	3594
3190	-1.08	-194.6	439.5	-13.1	400	3195	0.00	3.28	0.00	0.000	4	0.000	0.120	1992	3709	3592
3233	-1.08	-194.6	445.3	-12.8	403	3240	0.00	2.88	0.00	0.000	6	0.000	0.064	1992	2302	3593
3559	-1.08	-194.6	484.5	-11.7	434	3564	0.00	3.25	0.00	0.000	4	0.000	0.119	1992	3705	3592
3602	-1.08	-194.6	490.1	-12.2	437	3609	0.00	2.90	0.00	0.000	6	0.000	0.065	1992	2293	3592
3921	-1.08	-194.6	531.2	-13.4	457	3926	0.00	3.25	0.00	0.000	4	0.000	0.117	1992	3705	3590
3983	-1.08	-194.6	539.9	-13.8	460	3988	0.00	2.88	0.00	0.000	6	0.000	0.061	1992	2293	3590
4310	-1.08	-194.6	584.8	-13.6	476	4315	0.00	3.28	0.00	0.000	4	0.000	0.118	1991	3707	3589
4359	-1.08	-194.6	591.9	-13.9	478	4364	0.00	2.85	0.00	0.000	6	0.000	0.059	1992	2297	3589
4675	-1.08	-194.6	636.7	-14.1	493	4680	0.00	3.25	0.00	0.000	4	0.000	0.116	1992	3708	3588
4715	-1.08	-194.6	642.5	-14.2	495	4720	0.00	2.85	0.00	0.000	6	0.000	0.058	1991	2298	3588
5041	-1.08	-194.6	685.1	-12.6	511	5046	0.00	3.25	0.00	0.000	4	0.000	0.116	1992	3710	3587
5085	-1.08	-194.6	690.8	-12.3	513	5090	0.00	2.85	0.00	0.000	6	0.000	0.058	1992	2298	3587
5407	-1.08	-194.6	728.3	-11.2	529	5412	0.00	3.22	0.00	0.000	4	0.000	0.114	1992	3706	3585
5446	-1.08	-194.6	732.7	-11.0	531	5451	0.00	2.85	0.00	0.000	6	0.000	0.058	1992	2295	3585
5606	end dive: TARGET_DEPTH_EXCEEDED
state	5606	begin apogee
5614	-0.21	0.0	750.1	10.8	539	5796	1.12	0.00	177.85	1.210	6	0.119	0.000	2183	2723	2800
5797	end apogee: CONTROL_FINISHED_OK
state	5797	begin climb
5800	1.08	194.6	756.6	0.0	548	5993	1.52	2.83	180.68	1.155	4	0.067	0.132	2470	3784	2005
6077	1.08	194.6	733.1	15.0	560	6084	0.00	2.25	0.00	0.000	6	0.000	0.047	2470	2713	2005
6393	1.08	194.6	692.2	12.6	576	6398	0.00	3.15	0.00	0.000	4	0.000	0.100	2470	1309	2004
6455	1.08	194.6	684.1	13.0	579	6460	0.00	3.05	0.00	0.000	6	0.000	0.079	2470	2720	2003
6782	1.08	194.6	645.2	12.2	595	6786	0.00	2.62	0.00	0.000	4	0.000	0.141	2470	3786	2003
6837	1.08	194.6	637.7	14.1	597	6843	0.00	2.17	0.00	0.000	6	0.000	0.050	2470	2716	2002
7153	1.08	194.6	598.0	12.7	613	7154	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2716	2001
7462	1.08	194.6	559.3	12.2	628	7463	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2716	2001
7771	1.08	194.6	524.2	11.5	643	7776	0.00	2.47	0.00	0.000	4	0.000	0.114	2470	3790	2001
7894	1.08	194.6	509.2	12.4	648	7901	0.00	2.12	0.00	0.000	6	0.000	0.049	2470	2719	2000
8217	1.08	194.6	473.0	11.1	675	8218	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2719	2000
8536	1.08	194.6	436.6	12.0	705	8540	0.00	2.47	0.00	0.000	4	0.000	0.116	2470	3791	2000
8590	1.08	194.6	429.3	13.1	709	8597	0.00	2.12	0.00	0.000	6	0.000	0.048	2470	2715	2000
8918	1.08	194.6	391.5	11.3	740	8919	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2715	1999
9234	1.08	194.6	353.8	11.6	770	9238	0.00	2.45	0.00	0.000	4	0.000	0.112	2470	3787	1999
9273	1.08	194.6	349.1	12.0	773	9277	0.00	2.10	0.00	0.000	6	0.000	0.045	2470	2716	1999
9601	1.08	194.6	312.2	11.3	803	9605	0.00	3.03	0.00	0.000	4	0.000	0.094	2470	1308	1999
9633	1.08	194.6	308.0	11.9	805	9640	0.00	2.90	0.00	0.000	6	0.000	0.067	2470	2723	1999
9960	1.08	194.6	273.7	10.9	836	9965	0.00	2.50	0.00	0.000	4	0.000	0.131	2470	3786	1999
10049	1.08	194.6	263.1	11.7	843	10056	0.00	2.05	0.00	0.000	6	0.000	0.039	2470	2711	2000
10375	1.13	223.6	231.5	9.0	874	10400	0.00	0.00	23.35	0.923	6	0.000	0.000	2470	2711	1888
10717	1.13	223.6	195.2	11.0	909	10722	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2711	1887
11061	1.13	223.6	156.5	11.3	970	11068	0.00	2.92	0.00	0.000	4	0.000	0.083	2470	1318	1887
11108	1.13	223.6	151.2	11.5	978	11115	0.00	2.85	0.00	0.000	6	0.000	0.061	2470	2724	1887
11453	1.13	223.6	115.0	10.0	1039	11460	0.00	2.88	0.00	0.000	4	0.000	0.066	2470	1316	1887
11506	1.15	233.8	109.9	9.6	1048	11520	0.00	2.88	8.38	0.855	6	0.000	0.061	2470	2728	1846
11858	1.18	253.1	77.3	9.3	1110	11883	0.12	2.92	16.00	0.806	4	0.063	0.066	2498	1311	1767
12019	1.20	263.4	60.3	9.6	1138	12032	0.00	2.85	8.27	0.802	6	0.000	0.055	2498	2726	1725
12371	1.26	300.5	27.8	8.7	1200	12377	0.00	2.90	0.00	0.000	4	0.000	0.064	2498	1312	1013
12631	1.31	329.3	6.2	9.0	1246	12638	0.10	2.83	0.00	0.000	6	0.061	0.051	2520	2724	1040
12670	end climb: SURFACE_DEPTH_REACHED
state	12671	begin surface coast
12688	end surface coast: CONTROL_FINISHED_OK
state	12688	begin surface